Method for generating intersection surface, intersection surface generation device, computer device, and computer program

Abstract

The embodiments of the present application disclose a method and related device for generating an intersection surface, which can be applied to map fields, etc. The present application effectively and accurately generates an intersection surface of an intersection node, and has strong scalability. The method includes the steps of: obtaining road information of a target intersection node; determining road surface width information of each road based on the road information; obtaining constraints and a target function, where the target function indicates a target area dimension of the intersection surface of the target intersection node, and the constraints indicate a limiting condition of the target area dimension, and for at least two roads, including a constraint relationship between offset variables of two adjacent roads; determining an offset distance of the road based on the road surface width information of the road, the constraints and the target function; and generating an intersection surface of the target intersection node on a map based on the road surface width information of the road and the road offset distance.

Description

Technical Field

[0001] This application claims the priority of a Chinese patent application filed with the China National Intellectual Property Administration on May 31, 2022, with the application number 2022106120660 and the application title "Method for Generating Intersection Surfaces and Related Devices", and all its contents are incorporated herein by reference.

[0002] The embodiments of this application relate to the technical fields of maps, transportation, etc., and specifically relate to the field of map data processing.

Background Art

[0003] Currently, map applications provide maps that replicate the real world as much as possible. Maps contain a large number of road networks, and the intersection surface is the area on the map that indicates the space where the intersections are located. However, due to the complexity of road intersections, it is difficult to draw specific intersection surfaces.

Summary of the Invention

Problems to be Solved by the Invention

[0004] In related technologies, generally, the offset distances of each road are set in advance, and a pure geometry algorithm with a large computational amount is used to calculate the intersection surface of the intersection node. However, there are errors in the road shape points, affected by factors such as the mutual coupling of related geometric conditions, and due to the poor scalability of the pure geometry algorithm, the use of the conventional pure geometry algorithm cannot calculate accurate intersection surfaces. In particular, for some complex road scenarios, the intersection surfaces generated in the electronic map by the conventional pure geometry algorithm become more inaccurate.

[0005] The embodiments of this application provide a method for generating intersection surfaces and related devices, which do not need to rely on complex pure geometry algorithms, can effectively generate the intersection surfaces of intersection nodes, can generate accurate intersection surfaces, and have the effect of strong scalability.

Means for Solving the Problems

[0006] According to the first aspect, an embodiment of the present application provides a method for generating an intersection plane executed by a computer device, and the method includes: acquiring road information of a target intersection node, where the road information indicates at least two roads related to the target intersection node; determining road surface width information of each road based on the road information; acquiring a constraint condition and a target function, where the target function indicates target area dimensions of an intersection plane of the target intersection node, includes offset variables corresponding to each of the at least two roads, the offset variable indicates a distance situation between a tangent line of the road corresponding to the target intersection node and the target intersection node, the constraint condition indicates a limitation condition of the target area dimensions, and includes a constraint relationship between offset variables corresponding to each of two adjacent roads among the at least two roads; determining an offset distance of a road based on the road surface width information, the constraint condition and the target function of the road; generating an intersection plane of the target intersection node on a map based on the road surface width information of the road and the offset distance of the road.

[0007] According to the second aspect, an embodiment of the present application provides an intersection plane generation device. The intersection plane generation device includes: an acquisition unit that acquires road information of a target intersection node, where the road information indicates at least two roads related to the target intersection node; a processing unit that determines road surface width information of each road based on the road information. The acquisition unit further acquires a constraint condition and a target function, the target function indicates a target area dimension of an intersection surface of the target intersection node, includes offset variables corresponding to each of the at least two roads, the offset variable indicates a distance situation between the target intersection node and a tangent line of the corresponding road, the constraint condition indicates a constraint condition of the target area dimension, and includes a constraint relationship between offset variables corresponding to each of two adjacent roads among the at least two roads. The processing unit further determines an offset distance of a road based on the road surface width information, the constraint condition, and the target function of the road, and generates an intersection surface of the target intersection node on the map based on the road width information of the road and the offset distance of the road.

[0008] A third aspect of the embodiments of the present application provides a computer device, including a processor and a memory. The memory stores program instructions. The processor executes the program instructions in the memory to execute a method for generating an intersection surface corresponding to the embodiment of the first aspect above.

[0009] A fourth aspect of the embodiments of the present application provides a computer-readable storage medium, in which instructions are stored, and when executed by a computer, cause the computer to execute a method for generating an intersection surface corresponding to the embodiment of the first aspect above.

[0010] A fifth aspect of the embodiments of the present application provides a computer program product including instructions, and when executed by a computer or a processor, causes the computer or the processor to execute a method for generating an intersection surface corresponding to the embodiment of the first aspect above.

Advantages of the Invention

[0011] As can be seen from the above technical solutions, the embodiments of the present application have the following advantages. In an embodiment of the present application, road information of a target intersection node is obtained, road surface width information of each road related to the target intersection node is determined based on the road information, a constraint condition and a target function are obtained, the target function indicates the target area dimension of the intersection surface of the target intersection node, the constraint condition includes a constraint relationship between offset variables of two adjacent roads related to the target intersection node, indicates a constraint condition of the area dimension, and the target function includes offset variables corresponding to at least two roads related to the target intersection node. In this way, based on the road surface width information, constraint condition and target function of the road, the offset distance of each road can be calculated and obtained. Furthermore, based on the road surface width information of the road and the offset distance of the road, an intersection surface of the target intersection node is generated on the map. According to the above form, it is not necessary to rely on a complex pure geometry algorithm, a constraint condition can be constructed based on the constraint relationship between offset variables of adjacent roads, and the road surface width information of the road can be combined to calculate the offset distance of the road, so that the intersection surface of the intersection node can be effectively and accurately generated. In some complex road scenarios, by modifying the constraint condition, the corresponding accurate offset distance can be calculated, with strong scalability, widely applicable to various map scenarios, and effectively and accurately generating the intersection surface in various map scenarios.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2A

Figure 2B

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0013] In the specific embodiments of this application, it may be related to specific products or technologies related to data such as user information. When the embodiments of this application are applied to such specific products or technologies, user permission or consent should be obtained, and the collection, use, and processing of related data must comply with the relevant laws, regulations, and standards of the relevant countries and regions.

[0014] Hereinafter, by combining the drawings of the embodiments of this application, the technical solutions of the embodiments of this application will be clearly and completely described. The described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, assuming that those skilled in the art do not perform inventive labor, all other obtained embodiments belong to the protection scope of this application.

[0015] In the description, claims, and the above-mentioned drawings of this application, terms such as "first", "second", "third", "fourth" (if any) do not describe a specific order or sequence, but are for distinguishing similar objects. Here, when appropriate, the data used in this way can be exchanged with each other, so that the embodiments of this application described herein can be implemented, for example, in an order other than those illustrated or described herein. The term "comprising", "including" or any other modification is intended to include non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the clearly listed steps or units, but also includes those not clearly enumerated, or the inherent elements of such a process, method, product or device.

[0016] An intersection plane is a region that indicates the space where an intersection is located in an electronic map. By generating an accurate intersection plane, map data of the intersection location is provided to the navigation engine, enhancing the visualization effect of the navigation interface. Additionally, when making decisions at the intersection location, it provides data support for autonomous driving or for objects (such as drivers) that use the electronic map to make driving decisions, preventing the vehicle from driving beyond the intersection range, reducing the probability of accidents at the intersection location, and improving driving safety.

[0017] The method for generating an intersection plane provided by this application is related to at least the following technologies: smart transportation systems, cloud computing, computer vision technology, etc. Exemplarily, the intersection plane of the target intersection node is generated based on the road network data in the electronic map. In some examples, the smart transportation system provides a smart navigation route service to driving objects such as drivers based on the position information, contour, etc. of the intersection plane. Or, the terminal device uses technologies such as computer vision technology to more realistically and clearly display a high-precision 3D image corresponding to the intersection plane on the navigation application page or the map page.

[0018] In the related art, generally, it depends on a pure geometry algorithm and calculates and obtains an intersection surface based on the offset distance of each pre-set road. However, the scalability of the pure geometry algorithm is poor, and due to factors such as the mutual coupling of related geometric conditions, there is a large deviation between the intersection surface generated based on the pure geometry algorithm and the actual intersection area. In addition, commercially available, generating a corresponding intersection surface for conventional lane-level navigation mainly depends on high-precision map data. However, due to the limitations of some conditions, the coverage area of high-precision map data is limited, so a corresponding intersection surface cannot be generated in areas not covered by high-precision map data.

[0019] To solve the above technical problems, the embodiments of the present application provide a method for generating an intersection surface. The method does not need to depend on a pure geometry algorithm with poor scalability to generate the intersection surface of an intersection node. The intersection surfaces generated based on the method provided by the embodiments of the present application have mutual accuracy and scalability, and when applied to a high-precision map scenario, even for areas not covered by high-precision map data, the approximate effect of high-precision map data can be obtained.

[0020] FIG. 1 is a schematic diagram of an application scenario of the method for generating an intersection surface according to the present application. As shown in FIG. 1, the application scenario includes a server. Exemplarily, it may further include terminal devices and the like. The described server may be an application program background server, and the application program is also installed on the terminal device. The terminal device and the server perform data interaction based on the application program. The server stores road network data such as road information of intersection nodes and road surface width information corresponding to each road, and further uses the road network data to generate an intersection surface of the intersection node. Exemplarily, the server transmits the position information of the generated intersection surface to the terminal device, and the terminal device displays the intersection surface based on the position information of the intersection surface.

[0021] Here, in actual application, the terminal device may store road network data such as road information of the target intersection node. The terminal device generates an intersection plane based on the road network data, and the embodiments of the present application do not limit the execution body of the generation of the intersection plane. Hereinafter, the embodiments of the present application will simply be described with the server as the execution body.

[0022] In addition, the application program may be a map application, a navigation application, or any application program that supports the display of a map page, for example, a traffic departure application, etc. The terminal device may be an in-vehicle terminal (such as an in-vehicle navigation terminal and an in-vehicle computer, etc.), a smartphone, a tablet, a notebook computer, a mobile Internet device, a personal digital assistant (PDA), a desktop computer, a smart speaker, a smart watch, etc.

[0023] The server may be an independent physical server, or a server cluster composed of multiple physical servers, or a distributed system. Furthermore, it may also be a cloud server or a server cluster that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), big data, and artificial intelligence platforms. The terminal device and the server may be directly or indirectly connected by a wired or wireless communication method, but are not limited thereto. Specifically, it may be determined based on the needs of the actual application scenario, and is not limited here.

[0024] In addition, the intersection node described in FIG. 1 above is an intersection where at least two roads intersect. The intersection is a position where at least two roads merge, and generally, it is indicated by several nodes. According to the number of nodes included, intersections can be divided into single-node intersections and composite-node intersections. Based on this, the intersection node may include single-node intersections and composite-node intersections. For example, FIG. 2A is a schematic diagram of a single-node intersection provided by an embodiment of the present application. As shown in FIG. 2A, in the scenario where the intersection node is a single-node intersection, four roads, namely roads (links) 1 to 4, merge at the same intersection (i.e., dot A in FIG. 2A). Also, for example, FIG. 2B is a schematic diagram of a composite-node intersection provided by an embodiment of the present application. As shown in FIG. 2B, in the scenario where the intersection node is a composite-node intersection, the composite-node intersection is composed of four single-node intersections, and for each of these single-node intersections, four roads merge at the same intersection. Specifically, reference may be made to the content of FIG. 2A above for understanding, and no redundant description will be provided here.

[0025] Here, for the intersection nodes in FIGS. 2A and 2B, the fact that the number of aggregated roads is four is merely a general explanation. In actual applications, two, three, six, or ten roads may be aggregated, and the present application does not specifically limit this. Also, the single-node intersection in FIG. 2A and the composite-node intersection in FIG. 2B merely show the situation where the links are perpendicular to each other. In actual applications, there may be a situation where the links are not perpendicular to each other, and the present application does not specifically limit this. Subsequently, the embodiments of the present application will be described by taking the mutually perpendicular links in FIGS. 2A and 2B as examples.

[0026] In addition, as shown in FIG. 2B, since the composite node intersection is actually composed of at least two single node intersections, hereinafter, in the description of the method for generating an intersection surface according to the present application, the single node intersection in FIG. 2A will be taken as an example and described in detail as the target intersection node. The process of generating a corresponding intersection surface for the composite node intersection can be specifically understood by referring to the process of generating the intersection surface of the single node intersection, and the embodiments of the present application will not elaborate on this.

[0027] Taking the scenario of the single node intersection in FIG. 2A as an example, hereinafter, the method for generating an intersection surface provided by the embodiments of the present application will be introduced in combination with the drawings. FIG. 3 is a flowchart of the method for generating an intersection surface provided by the embodiments of the present application, and the method is executed by a computer device, for example, the server or terminal device in FIG. 1. As shown in FIG. 3, the method for generating the intersection surface includes the following steps: 301: Obtain the road information of the target intersection node, where the road information indicates two roads related to the target intersection node.

[0028] In this example, the target intersection node may be the single node intersection in FIG. 2A above, or the composite node intersection in FIG. 2B, and this will not be elaborated here. Hereinafter, taking the target intersection node as the single node intersection in FIG. 2A as an example for explanation. For the target intersection node, obtain the corresponding road information, and based on the road information, the number of roads merging into the target intersection node can be known. Exemplarily, the road information indicates at least two roads, and the at least two roads are jointly connected to the target intersection node. For example, for the single node intersection in FIG. 2A, the road information of the single node intersection indicates four links, and the four links are jointly connected to the same target intersection node A.

[0029] 302: Determine the road surface width information of each road based on the road information.

[0030] In this example, the roads mentioned in a general navigation map are represented by line segments without width. Before generating the intersection plane of the target intersection node, the line segment without width is expanded into a road surface with a certain width. Exemplarily, based on road information, the road surface width information of each road is determined, and the road surface width information reflects the specific width of the road surface of the road. The described road width information may include, but is not limited to, the width dimension of the road surface, and the present application does not specifically limit it.

[0031] In some examples, for different levels of roads, the corresponding road surfaces may be expanded to different widths. For example, at the urban road level, the road level of the main road is higher than that of the secondary road, and the road level of the secondary road is higher than that of the branch road. The higher the road level, the larger the road surface width of the corresponding road. For example, the road surface width of the main road is generally larger than that of the secondary road, and the road surface width of the secondary road is larger than that of the branch road. Based on this, in step 302, the specific implementation process of determining the road surface width information of each road based on road information is to determine the road level of each road based on road information, and based on the road level of each road, determine the road surface width information of each road.

[0032] Also, each road surface of each road includes a left shoulder road surface and a right shoulder road surface, and correspondingly, the road surface width information of the road includes the width information of the left shoulder road surface and the width information of the right shoulder road surface thereof.

[0033] For example, taking the single-node intersection in FIG. 2A above as an example, FIG. 4 is a schematic diagram of the road after expansion provided by the embodiment of the present application. As shown in FIG. 4, for the four roads (i.e., link1 to link4) connected to the target intersection node A, each road can be expanded into a road surface with a certain width. For example, for link1, the corresponding road surface width information is the road surface width information of the left shoulder road surface of link1 (i.e., l w1 ), and the road surface width information of the right shoulder road surface of link1 (i.e., r w1) and is composed of. For link2, the corresponding road width information also includes the road width information of the left-side shoulder road surface of the link2 (i.e., l w2 ), and the road width information of the right-side shoulder road surface of the link2 (i.e., r w2 ). Similarly, for the road width information of link3 and link4, specifically, referring to the road width information of link1 and link2 can help for understanding, and here, no redundant description is made.

[0034] Here, the roads described above may include main roads, secondary roads, and branch roads, but are not limited thereto. In actual applications, the roads may include highways, roads within communities, etc., and the embodiments of this application do not specifically limit. Also, for the road width information such as l w1 , r w1 , l w2 , r w2 in FIG. 4, their values may be the same or different, and this application does not specifically limit.

[0035] 303: Obtain constraint conditions and a target function. The target function indicates the target area dimensions of the intersection surface of the target intersection node and includes offset variables corresponding to at least two roads respectively. The offset variable indicates the distance situation between the target intersection node and the tangent line of the corresponding road. The constraint conditions indicate the constraint conditions of the target area dimensions and include the constraint relationship between the offset variables corresponding to two adjacent roads among the at least two roads.

[0036] In this example, when the tangents corresponding to two adjacent roads intersect, it will cause an abnormality in the shape of the intersection surface of the generated target intersection node, and the actual intersection surface cannot be accurately reflected. Therefore, in order to ensure that the shape of the intersection surface is normal, it is necessary to ensure that the tangents corresponding to two adjacent roads do not intersect. Each road is perpendicular to the corresponding tangent, and the position of the tangent is indicated by the distance from the intersection of the tangent and the road to the target intersection node. Here, the intersection of the tangents mentioned in the embodiments of the present application should be understood as the intersection in the middle part of the tangents, and does not include the intersection at the end points of the two tangents.

[0037] In the embodiments of the present application, the distance from the intersection of the tangent and the road to the target intersection node is called the offset distance. In this way, whether the tangents corresponding to two adjacent roads intersect depends on the offset distances of the two roads. Exemplarily, if the offset distance of the road is too small, the corresponding tangents will intersect in the middle part of the tangents, resulting in an abnormality in the shape of the intersection surface.

[0038] For example, FIG. 5 is a schematic diagram of the intersection of the tangents of the roads according to the embodiments of the present application. As shown in FIG. 5, the tangent of link1 (i.e., L1) and the tangent of link2 (i.e., L2) intersect. The reason for the intersection of L1 and L2 is that the value of the offset variable of link1 (i.e., w1) and the value of the offset variable of the adjacent link2 (i.e., w2) are too small. Similarly, the reason for the intersection of L2 and the tangent of link3 (i.e., L3) is also that the value of w2 and the value of the offset variable of the adjacent link3 (i.e., w3) are too small. The intersection situation between L3 and the tangent of link4 (i.e., L4), and the intersection situation between L4 and L1 can be understood by referring to the intersection situation between L1 and L2, or the intersection situation between L2 and L3. Here, it is not redundant to mention.

[0039] Here, FIG. 5 illustrates the intersection of the tangents of the roads, taking the case where all four links intersect as an example. In actual application, only the situation where two or three of these links intersect may occur, and this application does not specifically limit it. Also, the offset variables mentioned indicate the distance situation between the target intersection node and the corresponding tangent of the road. For example, w1 indicates the distance situation between the target intersection node A and the tangent L1 of link1. After a specific value is assigned to the offset variable, it is called the offset distance.

[0040] Based on this, the value of w1 affects the value of adjacent w2, the value of w2 affects the value of adjacent w3, the value of w3 affects the value of adjacent w4, and the value of w4 affects the value of adjacent w1. Similarly, the value of w1 affects the value of adjacent w4, the value of w4 affects the value of adjacent w3, the value of w3 affects the value of adjacent w2, and the value of w2 affects the value of adjacent w1. Obviously, whether the four links of the target intersection node are sorted clockwise or counterclockwise, the coupling relationship among the offset variables w1, w2, w3, and w4 is circular. Specifically, it can be understood by referring to the schematic diagram of the relationship between the offset distances in FIG. 6. For such a coupling relationship, it is difficult to process using the pure geometry algorithm in the conventional solution. Therefore, in the embodiments of this application, a mathematical optimization method is used to process such a coupling relationship, that is, the constraint relationship between the offset variables of each road is changed into the constraint formula of the optimization problem.

[0041] As described above, the tangents of each road should satisfy the following two conditions, that is: (1) The tangent is perpendicular to the road (for example, L1 is perpendicular to the link); (2) The tangents do not intersect each other or intersect only at the tangent endpoint locations. Based on this, taking the scenario in FIG. 4 above as an example, the constraint formula that the offset variable should satisfy is established. Specifically, it can be understood by referring to the schematic diagram in FIG. 7 where the tangents do not intersect or intersect at the tangent endpoint locations.

[0042] As shown in FIG. 7, in order not to intersect between the tangent lines L of the corresponding roads or to intersect only at the end points according to the values of the offset variables w of each road, the constraint condition is constructed based on the constraint relationship between the offset variables of two adjacent roads.

[0043] The constraint relationship between the offset variables of two adjacent roads is constructed by the included angle information between two adjacent roads. Exemplarily, based on the road surface width information of two adjacent roads and the corresponding offset variables, the included angle information between two adjacent roads is determined, and based on the included angle information between the two adjacent roads, the constraint condition is constructed. The mentioned included angle information indicates the intersection situation between the tangent lines corresponding to two adjacent roads respectively. For the intersection situation between the described tangent lines, specifically, reference may be made to the content of FIG. 5 above, and no redundant description will be given here.

[0044] Also, the construction of the constraint condition is realized as follows, that is, the included angle between the first road and the second road is obtained, and the first road and the second road are adjacent roads among at least two roads related to the target intersection node. The first included angle between the first road and the boundary line on the right side sub-road surface of the first road, the second included angle between the second road and the boundary line on the left side sub-road surface of the second road, and the third included angle between the boundary line on the right side sub-road surface of the first road and the boundary line on the left side sub-road surface of the second road are obtained. Then, based on the included angle between the first road and the second road, the first included angle, the second included angle, and the third included angle, the constraint condition is constructed.

[0045] Exemplarily, first, the coordinates of the road shape points of the first road and the coordinates of the road shape points of the second road are acquired. Then, based on the coordinates of the road shape points of the first road and the coordinates of the road shape points of the second road, the included angle between the first road and the second road is calculated and acquired. Here, on the premise that the road modes of the first road and the second road have already been fixed, the included angle between the roads calculated based on the coordinates of the road shape points of the road is also fixed, that is, the obtained included angle between the first road and the second road is a specific value.

[0046] Also, for the first included angle, it may be acquired by being indicated by the road surface width information of the right-side shoulder road surface of the first road and the offset variable of the first road. Similarly, for the second included angle, it may be acquired by being indicated by the road surface width information of the left-side shoulder road surface of the second road and the offset variable of the second road. Here, the first included angle and the second included angle described are functions related to the offset variable w of the corresponding road.

[0047] Regarding the left-side shoulder road surface and the right-side shoulder road surface described, specifically, it may be understood by referring to the content described in FIG. 4 above, and details are not elaborated here.

[0048] The sum of the above first included angle, second included angle, and third included angle is less than the included angle between the first road and the second road.

[0049] For example, taking the schematic diagram of the upper right corner of FIG. 7 as an example, link1 in FIG. 7 is the first road, link2 is the second road, and link1 and link2 are adjacent. Also, point A is the target intersection node. The intersection point of the tangent line L1 and the boundary line of the right-side shoulder road surface of link1 is P1, and the intersection point of the tangent line L2 and the boundary line of the left-side shoulder road surface of link2 is P2.

[0050] Taking point A as the origin, based on the coordinates of the road shape points of link1 and the coordinates of the road shape points of link2, the included angle between link1 and link2, that is, α 12 is calculated and acquired.

[0051] Similarly, by calculating the angle between link1 and P1A with point A as the origin, the first included angle, i.e., α1, is obtained. Exemplarily, the tangent line L1 is perpendicular to link1, and the road surface width of the right-side shoulder road surface of the link1 is r w1 Therefore, by using the arctangent function to process the road surface width r of the right-side shoulder road surface of the link1 w1 and the offset variable w1 of link1, the following is obtained.

Number

[0052] By calculating the angle between link2 and P2A, the second included angle, i.e., α2, is obtained. Exemplarily, the tangent line L2 is perpendicular to link2, and the road surface width of the left-side shoulder road surface of the link2 is l w2 Therefore, similarly, by using the arctangent function to process the road surface width l of the left-side shoulder road surface of the link2 w2 and the offset variable w2 of link2, the following is obtained.

Number

[0053] To ensure that L1 and L2 do not intersect or intersect only at the end points, the included angles α1 and α2 should satisfy the following formula:

Number

[0054] Generally, when n (n>1) roads are associated with the target intersection node, n constraint conditions can be constructed and obtained. For example, 4 roads are associated with the target intersection node A in FIG. 7 above. In this case, for the target intersection node A, the following 4 constraint conditions can be constructed and obtained:

Number

[0055] Here, the above constraint condition (2) is constructed based on the included angle information between link2 and link3. α3 is the included angle between link2 and P3A, α4 is the included angle between link3 and P4A, and β2 is the included angle between P3A and P4A. The above constraint condition (3) is constructed based on the included angle information between link3 and link4. α5 is the included angle between link3 and P5A, α6 is the included angle between link4 and P6A, and β3 is the included angle between P5A and P6A. The above constraint condition (4) is constructed based on the included angle information between link4 and link1. α7 is the included angle between link4 and P7A, α8 is the included angle between link1 and P8A, and β4 is the included angle between P7A and P8A. Specifically, it can be understood by referring to the construction of the constraint condition between link1 and link2 in FIG. 7 above, and there is no need to elaborate here.

[0056] Furthermore, assuming that the above-described constraints are satisfied, if it is desired that the intersection surface of the generated target intersection node be as small as possible, the target area dimension of the intersection surface of the target intersection node can be set as a target function, and the target area dimension can be limited by the above-established constraints. Here, the target function includes offset variables corresponding to at least two roads, and the constraint relationship between each offset variable can be understood by referring to the above-established constraints, and is not described in detail here. In other words, the target area dimension of the intersection surface is affected by the value of the offset variable of the road associated with the target intersection node. Therefore, the expression of the target area dimension of the intersection surface of the target intersection node is determined based on the magnitude of the value of the offset variable w of the road associated with the target intersection node. For example, for target intersection node A in FIG. 7, if the sum of the squares of the offset variables w is used as the expression of the target area dimension of the intersection surface, the target area dimension of the intersection surface can be expressed as follows: V=w1 2 +w2 2 +w3 2 +w4 2 where w1, w2, w3, and w4 are the offset variables of the corresponding link1, link2, link3, and link4.

[0057] Here, the intersection area target area size is expressed as the sum of squares of offset variables, and in actual applications, it may be expressed as the sum of cubes of offset variables, the sum of N (N≧2) powers, the sum of absolute values, etc., and the embodiments of this application are not specifically limited.

[0058] Thus, the target function for the target area size of the intersection surface, i.e., min V=w1 2 +w2 2 +w3 2 +w4 2 can be constructed.

[0059] 304: Determine the offset distance of the road based on the road surface width information of the road, the constraint conditions, and the target function.

[0060] In this exemplification, after constructing the constraint conditions and obtaining the target function by the operation of step 303, based on the road surface width information of the road and the constraint conditions, solve and calculate the target function, and further calculate the specific values of each offset variable in the target function to obtain the offset distance of each road. For example, after constructing and obtaining the constraint conditions and the target function, construct and obtain the optimization mathematical model corresponding to the target intersection node in FIG. 7 of the present application, that is:

Equation

[0061] In this way, solve the target function based on the constraint conditions and the road surface width information of the road according to a predetermined constraint optimization model such as the interior point method. Exemplarily, after obtaining the road surface width information of each road (including the road surface width information of the left side shoulder road surface and the road surface width information of the right side shoulder road surface), process the road surface width information of each road by the predetermined constraint optimization model to obtain the specific values of the offset variables of each road, that is, the optimal solutions of the offset distances of each road.

[0062] 305: Generate the intersection surface of the target intersection node on the map based on the road surface width information of the road and the offset distance of the road.

[0063] In this example, after calculating and obtaining the offset distance of each road, an intersection plane of the target intersection node on the map is generated based on the road surface width information of each road and the corresponding offset distance. Exemplarily, based on the road surface width information of each road and the corresponding offset distance, the positions of the intersection shape points are determined. In this way, after obtaining the positions of the intersection shape points, the intersection plane of the target intersection node can be generated based on the positions of the intersection shape points. Here, the described intersection shape points indicate the area contour features of the intersection plane. For example, the eight intersection shape points P1 to P8 in FIG. 7 above can accurately describe the area contour of the intersection plane.

[0064] Generally, for determining the positions of each intersection shape point, specifically, the following method may be referred to for implementation, that is, based on the road surface width information of the right-side shoulder road surface of the first road and the offset distance of the first road, the coordinates of the first intersection shape point are calculated. The first intersection shape point is the intersection between the tangent line of the first road and the boundary line of the right-side shoulder road surface of the first road. The coordinates of the first intersection shape point indicate the position of the first intersection shape point. Based on the road surface width information of the left-side shoulder road surface of the second road and the offset distance of the second road, the coordinates of the second intersection shape point are calculated. The second intersection shape point is the intersection between the tangent line of the second road and the boundary line of the left-side shoulder road surface of the second road. The coordinates of the second intersection shape point indicate the position of the second intersection shape point. Then, by connecting the coordinates of the first intersection shape point and the coordinates of the second intersection shape point, the intersection plane of the target intersection node is generated.

[0065] For example, taking two shape points, namely the first intersection shape point P1 and the second intersection shape point P2 in FIG. 8 as an example, the above is the road surface width information of the right-side shoulder road surface of the link1, that is, r w1 is calculated and obtained. In step 304, the specific value of the offset variable w1 of the link1 is calculated and obtained. In this case, with the target road sign node A as the origin, based on the Pythagorean theorem, the coordinates of the P1 point can be calculated and obtained. Similarly, the above is the road width information of the left-side shoulder road surface of the link2, that is, l w2Calculate and obtain it, and in step 304, calculate and obtain the specific value of the offset variable w2 of the link2. In this case, taking the target road sign node A as the origin and using the Pythagorean theorem in the same way, the coordinates of the P2 point can be calculated and obtained.

[0066] Based on the same principle, the coordinates of other intersection shape points (i.e., P3 to P8) can be obtained by solving, and by connecting these intersection shape points with straight lines, an intersection surface can be obtained. Specifically, it can be understood by referring to the schematic diagram of the intersection surface in FIG. 8.

[0067] In some examples, after generating the intersection surface, the terminal device may display the intersection surface.

[0068] In the embodiments of the present application, obtain the road information of the target intersection node, determine the road surface width information of each road based on the road information, obtain the constraint conditions and the target function. The target function indicates the target area dimensions of the intersection surface of the target intersection node, and the constraint conditions include the constraint relationship between the offset variables of two adjacent roads, indicating the constraint conditions of the area dimensions. The target function includes at least two offset variables. In this way, based on the road surface width information, constraint conditions, and target function of the road, the offset distance of each road can be calculated and obtained. Furthermore, based on the road surface width information and the offset distance of the road, the intersection surface of the target intersection node is generated on the map. According to the above method, it is not necessary to rely on a complex pure geometry algorithm. Construct the constraint conditions based on the constraint relationship between the offset variables of adjacent roads, combine the road surface width information of the road, and calculate the offset distance of the road, and the intersection surface of the intersection node can be generated effectively and accurately. In some complex road scenarios, by modifying the constraint conditions, the corresponding accurate offset distance can be calculated, with strong scalability, widely applicable to various map scenarios, and effectively and accurately generating the intersection surface in various map scenarios.

[0069] The above mainly introduces the solutions provided by the embodiments of the present application from the perspective of methods. Here, in order to implement the above functions, corresponding hardware structures and / or software modules for executing each function are included. As can be easily understood by those skilled in the art, by combining each exemplary module and algorithm step described in the embodiments disclosed in the present application, the present application may be implemented in the form of hardware, or a combination of hardware + computer software. Whether a certain function is executed in the form of hardware or in the form of driving hardware by computer software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation does not exceed the scope of the present application.

[0070] Based on the above examples of methods, the embodiments of the present application perform a division of functional modules on the device. For example, each functional module may be divided to correspond to each function, or two or more functions may be integrated into one processing module. The above integrated modules may be implemented in the form of hardware or in the form of software functional modules. Here, in the embodiments of the present application, the division of modules is schematic and only a division of logical functions. When actually implemented, there may be other division methods.

[0071] The intersection surface generation device of the embodiments of the present application will be described in detail below. FIG. 9 is a schematic diagram of one embodiment of the intersection surface generation device provided by the embodiments of the present application. As shown in FIG. 9, the intersection surface generation device includes an acquisition unit 901 for acquiring road information of a target intersection node, where the road information indicates at least two roads related to the target intersection node, and a processing unit 902 for determining the road surface width information of each road based on the road information.

[0072] The acquisition unit 901 further acquires constraint conditions and a target function. The target function indicates the target area dimensions of the intersection surface of the target intersection node, includes offset variables corresponding to at least two roads respectively, the offset variable indicates the distance situation between the target intersection node and the tangent line of the corresponding road, the constraint condition indicates the constraint condition of the target area dimensions, and includes the constraint relationship between the offset variables corresponding to each of every two adjacent roads among at least two roads.

[0073] The processing unit 902 further determines the offset distance of the road based on the road surface width information, constraint conditions and target function of the road, and generates the intersection surface of the target intersection node on the map based on the road width information of the road and the offset distance of the road.

[0074] In some preferred examples, the processing unit 902 determines the included angle information between every two adjacent roads based on the road surface width information and the offset variables of every two adjacent roads, the included angle information indicates the intersection situation between the tangent lines corresponding to each of the two adjacent roads, and constructs constraint conditions based on the included angle information between every two adjacent roads.

[0075] In some preferred examples, the road surface of each road includes a left shoulder road surface and a right shoulder road surface. The acquisition unit 901 further acquires the included angle between the first road and the second road, the first road and the second road are adjacent roads among at least two roads, the first included angle between the first road and the boundary line on the right shoulder road surface of the first road, the second included angle between the second road and the boundary line on the left shoulder road surface of the second road, and the third included angle between the boundary line on the right shoulder road surface of the first road and the boundary line on the left shoulder road surface of the second road are acquired. Specifically, the processing unit 902 constructs constraint conditions based on the included angle between the first road and the second road, the first included angle, the second included angle and the third included angle.

[0076] In some other preferred examples, the sum of the first included angle, the second included angle, and the third included angle is less than the included angle between the first road and the second road.

[0077] In some other preferred examples, the acquisition unit 901 specifically acquires the coordinates of the road shape points of the first road and the coordinates of the road shape points of the second road. The processing unit 902 specifically calculates the included angle between the first road and the second road based on the coordinates of the road shape points of the first road and the coordinates of the road shape points of the second road.

[0078] In some other preferred examples, the first included angle is obtained and indicated by the road surface width information of the right-side shoulder road surface of the first road and the offset variable of the first road.

[0079] In some other preferred examples, the second included angle is obtained and indicated by the road surface width information of the left-side shoulder road surface of the second road and the offset variable of the second road.

[0080] In some other preferred examples, the processing unit 902 specifically determines the road level of each road based on the road information, and determines the road surface width information of each road based on the road level of each road.

[0081] In some other preferred examples, the processing unit 902 specifically determines the position of the intersection shape point based on the road surface width information of each road and the offset distance of the road. The intersection shape point indicates the area contour feature of the intersection surface. Based on the position of the intersection shape point, an intersection surface of a target intersection node is generated on the map.

[0082] In some other preferred examples, the road surface width information of a road includes the road surface width information of the left shoulder road surface and the road surface width information of the right shoulder road surface of the road. Specifically, based on the road surface width information of the right shoulder road surface of the first road and the offset distance of the first road, the processing unit 902 calculates the coordinates of the first intersection shape point, where the first intersection shape point is the intersection point between the tangent of the first road and the boundary line on the right shoulder road surface of the first road. Based on the road surface width information of the left shoulder road surface of the second road and the offset distance of the second road, the processing unit 902 calculates the coordinates of the second intersection shape point, where the second intersection shape point is the intersection point between the tangent of the second road and the boundary line on the left shoulder road surface of the second road. The first road and the second road are adjacent roads among the at least two roads. By connecting the coordinates of the first intersection shape point and the coordinates of the second intersection shape point, the intersection surface of the target intersection node is generated.

[0083] In some other preferred examples, specifically, when the constraint conditions and the road surface width information of the road are known, the processing unit 902 determines the offset distance of the road based on a predetermined constraint optimization model and the target function.

[0084] The above describes the intersection surface generation device according to the embodiments of the present application from the perspective of modularized functional entities. Hereinafter, a computer device that executes the intersection surface generation method according to the embodiments of the present application from the perspective of hardware processing will be described. FIG. 10 is a schematic diagram of the hardware structure of the computer device provided by the embodiments of the present application. Due to different arrangements or performances, there are significant differences in the intersection surface generation device. The intersection surface generation device includes at least one processor 1001, a communication line 1007, a memory 1003, and at least one communication interface 1004.

[0085] Processor 1001 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the solution of the present application.

[0086] Communication line 1007 includes a path for transmitting information among the above components.

[0087] Use a device such as any transceiver for the communication interface 1004 to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0088] Memory 1003 may be a read-only memory (ROM), or other types of static storage devices that can store static information and instructions, a random access memory (RAM), or other types of dynamic storage devices that can store information and instructions. The memory may exist individually and be connected to the processor via the communication line 1007. The memory may also be integrated with the processor.

[0089] Memory 1003 stores computer-executable instructions for executing the solution of the present application and is controlled by the processor 1001 for execution. By executing the computer-executable instructions stored in the memory 1003, the processor 1001 realizes the method for generating the intersection surface provided by the above embodiments of the present application.

[0090] Preferably, the computer-executable instructions of the embodiments of the present application may also be called application program code, and the embodiments of the present application do not specifically limit this.

[0091] In a specific implementation, as an example, the computer device includes a plurality of processors, for example, processor 1001 and processor 1002 in FIG. 10. Each of these processors may be a single-CPU processor or a multi-CPU processor. Here, a processor is a processing core that processes one or more devices, circuits, and / or data (such as computer program instructions).

[0092] In a specific implementation, as an example, the computer device further includes an output device 1005 and an input device 1006. The output device 1005 communicates with the processor 1001 to display information in a plurality of ways. The input device 1006 communicates with the processor 1001 to receive input of a target object in a plurality of ways. For example, the input device 1006 may be a mouse, a touch panel device, or a sensing device, etc.

[0093] The above computer device may be a general-purpose device or a dedicated device. In a specific implementation, the computer device may be a server, a terminal, etc., or a device having a similar configuration to that in FIG. 10. The embodiments of the present application do not limit the type of the computer device.

[0094] Here, the processor 1001 in FIG. 10 calls the computer execution instructions stored in the memory 1003 to cause the computer device to execute the method in the method embodiment corresponding to FIG. 3.

[0095] Specifically, the function / realization process of the processing unit 902 in FIG. 9 is realized by the processor 1001 in FIG. 10 calling the computer execution instructions stored in the memory 1003. The function / realization process of the acquisition unit 901 in FIG. 9 is realized by the communication interface 1004 in FIG. 10.

[0096] In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented by software, it may be implemented in whole or in part in the form of a computer program product.

[0097] As will be understood by those skilled in the art, for the convenience and brevity of description, for the specific operation processes of the systems, apparatuses, and units described above, reference may be made to the corresponding processes in the above method embodiments, and details are not elaborated herein.

[0098] In some embodiments provided by this application, as can be understood, the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely schematic. For example, the division of units is merely a division of logical functions. In actual implementation, there may be other division methods. For example, a plurality of units or components may be combined or integrated into another system, or some features may be ignored or not executed. Also, the couplings, or direct couplings, or communication connections shown or discussed between each other may be indirect couplings or communication connections through some interfaces, apparatuses, or units, and may be in electrical, mechanical, or other forms.

[0099] The units described as individual members may or may not be physically separated. The members shown as units may or may not be physical units, that is, they may be located in one place or dispersed among a plurality of network units. Based on actual needs, some or all of these units may be selected to achieve the purpose of the technical solution of this embodiment.

[0100] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, each unit may exist individually and physically, and furthermore, two or more units may be integrated into one unit. The above integrated units may be realized in the form of hardware or in the form of software functional units.

[0101] When the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it is stored in a computer-readable storage medium. Based on such an understanding, the essence of the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution is embodied in the form of a software product. The computer software product is stored in the storage medium and contains several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of each embodiment of the present application. The above storage medium includes various media capable of storing program codes, such as a USB disk, a portable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0102] The above embodiments may be realized in whole or in part by software, hardware, firmware, or any combination thereof. When realized by software, it may be realized in the form of a computer program product in whole or in part.

[0103] The computer program product includes one or more computer instructions. When the computer reads and executes the computer-executable instructions, it wholly or partially generates the flow or functions according to the embodiments of this application. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in the form of wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium is any available medium that can be stored by a computer, or a data storage device such as a server or data center integrated to include one or more available media. The available medium may be a magnetic medium (such as a flexible disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as an SSD), etc.

[0104] The above embodiments do not limit the technical solution of this application, but are only for explanation. Although this application has been described in detail with reference to the above embodiments, as can be understood by those skilled in the art, still, the technical solutions described in each of the above embodiments may be corrected, or equivalent substitutions may be made for some technical features. The essence of the corresponding technical solutions does not deviate from the spirit and scope of the technical solutions of each embodiment of this application due to these corrections or substitutions.

Description of Reference Signs

[0105] 901 Acquisition Unit 902 Processing Unit 1001 Processor 1002 Processor 1003 Memory 1004 Communication Interface 1005 Output Device 1006 Input device 1006 Input apparatus 1007 Communication line

Claims

1. A method for generating an intersection surface executed by a computer device, comprising: obtaining road information of a target intersection node, where the road information indicates at least two roads related to the target intersection node; determining road surface width information of each of the roads based on the road information; obtaining a constraint condition and a target function, where the target function indicates target area dimensions of an intersection surface of the target intersection node, includes offset variables corresponding to each of the at least two roads, the offset variable indicates a distance situation between a tangent of the road corresponding to the target intersection node and the target intersection node, the constraint condition indicates a constraint condition of the target area dimensions, and includes a constraint relationship between offset variables corresponding to two adjacent roads among the at least two roads; determining an offset distance of the road based on the road surface width information of the road, the constraint condition, and the target function; generating an intersection surface of the target intersection node on a map based on the road surface width information of the road and the offset distance of the road.

2. The step of obtaining the constraint condition includes: determining included angle information between two roads based on road surface width information and corresponding offset variables of two adjacent roads, where the included angle information indicates an intersection situation between tangents corresponding to the two adjacent roads; constructing the constraint condition based on the included angle information between the two adjacent roads. The method according to claim 1.

3. The road surface of each road includes a left sub-road surface and a right sub-road surface. The step of constructing the constraint condition based on the included angle information between the two adjacent roads includes: obtaining an included angle between a first road and a second road, where the first road and the second road are adjacent roads among the at least two roads. The step of obtaining a first included angle between the first road and a boundary line on the right sub-road surface of the first road, a second included angle between the second road and a boundary line on the left sub-road surface of the second road, and a third included angle between a boundary line on the right road surface of the first road and a boundary line on the left sub-road surface of the second road; The method according to claim 2, further comprising the step of constructing the constraint condition based on an included angle between the first road and the second road, the first included angle, the second included angle, and the third included angle.

4. The method according to claim 3, wherein the sum of the first included angle, the second included angle, and the third included angle is less than or equal to the included angle between the first road and the second road.

5. The step of obtaining the included angle between the first road and the second road includes the step of obtaining coordinates of road shape points of the first road and coordinates of road shape points of the second road; The method according to claim 3 or 4, further comprising the step of calculating an included angle between the first road and the second road based on the coordinates of the road shape points of the first road and the coordinates of the road shape points of the second road.

6. The method according to claim 3 or 4, wherein the first included angle is obtained and indicated by road surface width information of the right sub-road surface of the first road and an offset variable of the first road.

7. The method according to claim 3 or 4, wherein the second included angle is obtained and indicated by road surface width information of the left sub-road surface of the second road and an offset variable of the second road.

8. The step of determining road surface width information of each road based on the road information includes the step of determining a road level of each road based on the road information; The method according to any one of claims 1 to 4, further comprising the step of determining road surface width information of each road based on the road level of each road.

9. The step of generating an intersection surface of the target intersection node on a map based on the road surface width information of the road and an offset distance of the road is the step of determining positions of intersection shape points based on the road surface width information of each road and corresponding offset distances, wherein the intersection shape points indicate region contour features of the intersection surface; The method according to any one of claims 1 to 4, further comprising the step of generating an intersection surface of the target intersection node on the map based on the positions of the intersection shape points.

10. The road surface width information of the road includes the road surface width information of the left sub-road surface of the road and the road surface width information of the right sub-road surface of the road. Based on the road surface width information of each road and the corresponding offset distance, the step of determining the position of the intersection shape point is as follows: Calculating the coordinates of a first intersection shape point based on the road surface width information of the right sub-road surface of the first road and the offset distance of the first road, where the first intersection shape point is the intersection between the tangent of the first road and the boundary line in the right sub-road surface of the first road. Including the step of calculating the coordinates of a second intersection shape point based on the road surface width information of the left sub-road surface of the second road and the offset distance of the second road, where the second intersection shape point is the intersection between the tangent of the second road and the boundary line in the left sub-road surface of the second road, and the first road and the second road are adjacent roads among the at least two roads. Based on the position of the intersection shape point, the step of generating the intersection surface of the target intersection node is as follows: The method according to claim 9, including the step of connecting the coordinates of the first intersection shape point and the coordinates of the second intersection shape point to generate the intersection surface of the target intersection node.

11. Based on the road surface width information of the road, the constraint conditions, and the target function, the step of determining the offset distance of the road is as follows: The method according to any one of claims 1 to 4, including the step of determining the offset distance of the road based on a predetermined constraint optimization model and the target function when the constraint conditions and the road surface width information of the road are known.

12. An intersection surface generation device, including: An acquisition unit for acquiring road information of a target intersection node, where the road information indicates at least two roads related to the target intersection node. A processing unit for determining the road surface width information of each road based on the road information. The acquisition unit further acquires a constraint condition and a target function, the target function indicates a target area dimension of an intersection surface of the target intersection node, includes offset variables corresponding to each of the at least two roads, the offset variable indicates a distance situation between the target intersection node and a tangent line of the corresponding road, the constraint condition indicates a constraint condition of the target area dimension, and includes a constraint relationship between offset variables corresponding to each of two adjacent roads among the at least two roads. The processing unit further determines an offset distance of the road based on the road surface width information, the constraint condition, and the target function of the road. The processing unit further generates an intersection surface of the target intersection node on a map based on the road width information of the road and the offset distance of the road.

13. A computer device including a processor and a memory, wherein program instructions are stored in the memory. The processor executes the program instructions stored in the memory to execute the method according to any one of claims 1 to 4.

14. A computer program including instructions, which, when executed on a computer device, cause the computer device to execute the method according to any one of claims 1 to 4.

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