Intersection surface generation method, device, equipment, and program

Abstract

A method for generating an intersection surface includes the steps of: determining a complex node intersection based on road network data, where the complex node intersection includes at least two single-node intersections (202); obtaining a road surface of the complex node intersection based on intersection information of the complex node intersection (204); determining an intersection surface of each single-node intersection in the at least two single-node intersections (206); generating an enclosing surface of the complex node intersection based on the intersection surface of each single-node intersection (208); and integrating the enclosing surface with the road surface to obtain the intersection surface of the complex node intersection (210).

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority to a Chinese patent application filed with the China Patent Office on August 19, 2022, bearing application number 202210998820.9 and entitled "Method, device, equipment, storage medium and program product for generating intersection surface," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of the Internet, and in particular to a method, apparatus, computer device, storage medium and computer program product for generating an intersection surface. [Background technology]

[0003] With the rapid development of computer and Internet technologies, a variety of virtual map products have emerged to simulate urban road conditions, including high-precision lane-level maps, general maps, and urban road models, bringing convenience to people's daily lives.

[0004] In some cases, it is necessary to generate road elements using original road network data. In particular, when high-precision map data is lacking in some areas, it is necessary to generate some road elements based on general maps, so that an effect similar to that of a high-precision map can be achieved even in areas where high-precision map data is lacking. In areas where high-precision map data is lacking, intersection surfaces are one of the road elements required to generate a virtual map.

[0005] Currently, generating intersection surfaces for complex node intersections requires not only road configuration data and road topology data, but also route indication information. However, the collection cost of route indication information is high, it is time-sensitive, and its coverage is limited. In other words, related technologies not only rely on a large amount of original data, but also have low robustness and high costs, making it difficult to automatically generate intersection surfaces for complex node intersections over a wide area. Summary of the Invention [Means for solving the problem]

[0006] In a first aspect, the present application provides a method for generating an intersection surface, the method comprising: determining a complex node intersection based on road network data, the complex node intersection including at least two single-node intersections; obtaining a road surface of the composite node intersection based on intersection information of the composite node intersection; determining an intersection plane of each of the single-node intersections within the at least two single-node intersections; generating an enclosing surface of the complex node intersection based on the intersection surface of each of the single node intersections; and integrating the surrounding surface with the road surface to obtain an intersection surface of the complex node intersection.

[0007] In a second aspect, the present application further provides an apparatus for generating an intersection surface, the apparatus comprising: a determination module configured to determine a complex node intersection based on road network data, the complex node intersection including at least two single-node intersections; a road surface generation module configured to obtain a road surface of the composite node intersection based on intersection information of the composite node intersection; a single-node intersection surface generation module configured to respectively determine an intersection surface of each of the single-node intersections in the at least two single-node intersections; an enclosing surface generation module configured to generate an enclosing surface of the complex node intersection based on an intersection surface of each of the single node intersections; an integration module configured to integrate the surrounding surface with the road surface to obtain an intersection surface of the complex node intersection.

[0008] In a third aspect, the present application further provides a computing device, the computing device comprising a memory and a processor, the memory storing computer-readable stored instructions, the processor, when executing the computer-readable stored instructions, performing the following steps: determining a complex node intersection based on road network data, the complex node intersection including at least two single-node intersections; obtaining a road surface of the composite node intersection based on intersection information of the composite node intersection; determining an intersection plane of each of the single-node intersections within the at least two single-node intersections; generating an enclosing surface of the complex node intersection based on the intersection surface of each of the single node intersections; and integrating the surrounding surface with the road surface to obtain an intersection surface of the complex node intersection.

[0009] In a fourth aspect, the present application further provides a computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor, perform the following steps: determining a complex node intersection based on road network data, the complex node intersection including at least two single-node intersections; obtaining a road surface of the composite node intersection based on intersection information of the composite node intersection; determining an intersection plane of each of the single-node intersections within the at least two single-node intersections; generating an enclosing surface of the complex node intersection based on the intersection surface of each of the single node intersections; and integrating the surrounding surface with the road surface to obtain an intersection surface of the complex node intersection.

[0010] In a fifth aspect, the present application further provides a computer program product, the computer program product comprising computer readable stored instructions that, when executed by a processor, perform the following steps: determining a complex node intersection based on road network data, the complex node intersection including at least two single-node intersections; obtaining a road surface of the composite node intersection based on intersection information of the composite node intersection; determining an intersection plane of each of the single-node intersections within the at least two single-node intersections; generating an enclosing surface of the complex node intersection based on the intersection surface of each of the single node intersections; and integrating the surrounding surface with the road surface to obtain an intersection surface of the complex node intersection. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an application environment of a method for generating an intersection surface according to an embodiment. [Figure 2] 1 is a flowchart of a method for generating an intersection surface in one embodiment. [Figure 3] FIG. 2 is a schematic diagram of a single node intersection in one embodiment. [Figure 4] FIG. 2 is a schematic diagram of a complex node intersection in one embodiment. [Figure 5] FIG. 10 is an exemplary effect diagram of a road surface at a complex node intersection in one embodiment. [Figure 6] 1 is a schematic diagram of an intersection surface of each single node in one embodiment. [Figure 7] FIG. 2 is a schematic diagram of an enclosing surface of a complex node intersection in one embodiment. [Figure 8] FIG. 10 is a schematic diagram of an enclosing surface of a complex node intersection in another embodiment. [Figure 9] FIG. 10 is a schematic diagram of an enclosing surface of a complex node intersection in yet another embodiment. [Figure 10] 1 is an exemplary effect diagram of a surrounding surface and a road surface in one embodiment. [Figure 11] FIG. 1 is a schematic diagram of trim points on an enclosing surface in one embodiment. [Figure 12] FIG. 10 is a schematic diagram of an intersection surface of an irregularly shaped composite node intersection in one embodiment. [Figure 13] 10 is a flowchart for reordering trim points on an enclosing surface in one embodiment. [Figure 14] FIG. 10 is a schematic diagram illustrating the effect of smoothly connecting trim points in one embodiment. [Figure 15] FIG. 10 is a schematic diagram showing smoothed connection of Bezier curves in an embodiment. [Figure 16] FIG. 10 is a schematic diagram of an intersection surface of a complex node intersection generated in one embodiment. [Figure 17] FIG. 2 is a schematic diagram of a road surface at a single-node intersection in one embodiment. [Figure 18] FIG. 2 is a schematic diagram of crossing road tangents in one embodiment. [Figure 19] 10A and 10B are schematic diagrams showing examples in which tangent lines do not intersect with each other or intersect at their endpoints in an embodiment; [Figure 20] 10 is a flowchart for generating an enclosing surface in accordance with certain embodiments. [Figure 21] FIG. 1 is a schematic diagram illustrating the configuration of an intersection surface generation device according to an embodiment. [Figure 22] FIG. 1 is a schematic diagram illustrating the internal structure of a computer device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] In order to more clearly explain the technical solutions of the embodiments of the present application, the drawings used in the description of the embodiments are briefly introduced above. Obviously, the above drawings are only some embodiments of the present application, and those skilled in the art can also obtain other related drawings based on these drawings without any creative efforts.

[0013] In order to more clearly describe the objectives, technical solutions and advantages of the present application, the present application will be described in detail below with reference to the drawings. It should be understood that the specific examples described herein are only used to illustrate the present application, and are not intended to limit the present application.

[0014] The intersection surface generation method provided by the embodiments of the present application can be applied to various virtual map products, such as high-precision virtual maps, normal-precision maps, and urban road models, and can be used to visually represent road areas containing multiple intersections. The intersection surface generation method can be understood as a process of compiling original map data, i.e., a process of processing and translating the original map data into more compact and user-friendly files or data. The data obtained through the compilation can be used for calling higher layers (such as map navigation, positioning technology, and map rendering). For example, the generated intersection surface data of a complex node intersection can provide base map data at the intersection to the navigation engine, enhancing the visual effect of the navigation interface. It can also provide data support to subjects such as drivers when making decisions at intersections during autonomous driving or when making driving decisions using electronic maps, preventing vehicles from deviating from the intersection range and reducing accidents at intersections, thereby reducing the probability of accidents and improving the safety of autonomous driving.

[0015] The intersection surface generation method provided by the present application can generate intersection surfaces of single-node intersections and road surfaces and intersection surfaces of multi-node intersections according to road network data on an electronic map. In some examples, an intelligent transportation system can be used to provide intelligent navigation route services to a driving subject, such as a driver, based on the location information, contours, etc. of the intersection surfaces. Alternatively, a terminal device can use computer vision technology, etc., to display high-precision three-dimensional images corresponding to the intersection surfaces on a navigation application page or a map page in a more realistic and clear manner.

[0016] Currently, lane-level navigation mainly uses high-precision map data (with accuracy at the decimeter or centimeter level), but the coverage area of ​​high-precision maps is limited. For example, in some cities, high-precision map data is only available for areas outside the Circular Route 5, and not for areas within the Circular Route 5. To achieve the same effect as a high-precision map in areas without high-precision map data, the algorithm must generate road elements based on standard-precision maps (normal navigation maps, with accuracy at the 10m level), and the intersection surface data of complex nodes must be generated as one of the road elements using the original road network data.

[0017] The main drawback of the related art methods for generating intersection surfaces of complex nodes is that they rely on a large amount of original data. In addition to road configuration and road topology data, route indication information (such as left turns, right turns, and straight ahead) is also required. However, the collection cost of route indication information is high, it is time-sensitive, and its coverage is limited. For some intersections, corresponding route indication information cannot even be obtained. Therefore, the related art lacks robustness, i.e., it has poor performance against interference. Furthermore, human intervention is required in some special cases, which is costly and makes it impossible to automatically generate intersection surfaces of complex node intersections over a wide area.

[0018] Based on this, to solve the above technical problems, an embodiment of the present application provides a method for generating an intersection surface. For a complex node intersection including at least two single-node intersections, a road surface of the complex node intersection is obtained based on the intersection information of the complex node intersection, an enclosing surface of the complex node intersection is generated based on the intersection surfaces of each single-node intersection included in the complex node intersection, and the enclosing surface is then integrated with the road surface to obtain the intersection surface of the complex node intersection. This method relies on a small amount of original data, making it possible to generate the intersection surface of the complex node intersection simply, efficiently, and with high quality, without the need for complex calculation policies, and avoiding extreme cases, and providing high robustness.

[0019] The intersection surface generation method provided by the embodiment of the present application can be applied to the application environment shown in Figure 1. Here, a terminal 102 communicates with a server 104 via a network. A data storage system can store data processed by the server 104, such as original road network data for each of multiple single-node intersections included in a complex-node intersection. The road network data includes information such as the roads connected to the single-node intersection, road grades, road widths, and the number of lanes, and the road network data can be used to generate an intersection surface for the complex-node intersection. The data storage system can be integrated into the server 104 or can be located in a cloud or another server.

[0020] In one embodiment, the server 104 can implement the intersection surface generation method of the present application. The server 104 determines a complex node intersection, where the complex node intersection includes at least two single-node intersections. Based on the intersection information of the complex node intersection, the server 104 obtains a road surface for the complex node intersection and determines an intersection surface for each single-node intersection in the at least two single-node intersections. The server 104 then generates an enclosing surface for the complex node intersection based on the intersection surface for each single-node intersection, and integrates the enclosing surface with the road surface to obtain the intersection surface for the complex node intersection. In some embodiments, the terminal 102 can retrieve the intersection surface of the complex node intersection generated by the server 104 (the boundary of the intersection surface corresponds to a point sequence, i.e., a series of point coordinates) and render and display the intersection surface on a virtual map.

[0021] In some embodiments, an application supporting a map service may be installed and executed on the terminal 102, the server 104 may be a server that provides services to the application, and the terminal 102 realizes interaction with the server 104 based on the application. The application may be a map application, a navigation application, a positioning application, or any application that supports intersection display, such as a traffic transportation application or a game application that requires calling and displaying road intersections. It can be understood that in some embodiments, the intersection surface of the composite node may be generated by the terminal, and the embodiments of the present application do not limit the execution entity for generating the intersection surface.

[0022] Here, the terminal 102 may be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart in-vehicle equipment, etc. The smart in-vehicle equipment may be an in-vehicle navigation terminal, an in-vehicle computer, etc. The portable wearable device may be a smart watch, a smart bracelet, a headset device, etc. The server 104 may be an independent physical server, a server cluster or a distributed system configured of multiple physical servers, or a cloud server providing 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, a content delivery network (CDN), big data, and artificial intelligence platforms.

[0023] In one embodiment, a method for generating an intersection surface is provided, as shown in Figure 2. This method is described as being applied to a computer device (such as the server 104) shown in Figure 1, and includes the following steps:

[0024] In step 202, a complex node intersection is determined based on the road network data, where the complex node intersection includes at least two single-node intersections.

[0025] Road network data for maps is data for describing complex roads. An intersection is a road element formed by the intersection of at least two roads. In road network data for maps, an intersection can be represented by at least one node. In general maps, roads are generally represented by line segments with no width (hereinafter referred to as links), making them "linear" roads. Each line segment is represented by multiple discrete location points arranged in sequence, and one location point is a single coordinate, such as a latitude and longitude coordinate. At least two line segments (links) intersect to form a node. That is, the endpoint where at least two line segments intersect is referred to as a node, and the node represents the intersection formed by the intersection of the roads represented by the at least two line segments. Depending on the number of nodes included, intersections are classified as single-node intersections and multiple-node intersections. A single-node intersection refers to an intersection represented by a single node, while a multiple-node intersection refers to an intersection represented by multiple nodes, i.e., a "large intersection."

[0026] As shown in Figure 3, Figure 3 is a schematic diagram of a single-node intersection in one embodiment. As shown in Figure 3, at the single-node intersection, four roads, road 1 (link 1) to road 4 (link 4), converge to form one single-node intersection A.

[0027] As shown in Figure 4, Figure 4 is a schematic diagram of a complex node intersection in one embodiment. As shown in Figure 4, the complex node intersection includes four single-node intersections, and each single-node intersection also has four roads that merge to form one single-node intersection. Therefore, the complex node intersection includes a total of 12 roads (the aforementioned links).

[0028] It is understood that the number of roads merging into each single-node intersection is at least two, and may be three, four, six, ten, etc., and is not particularly limited in the present application. The number of single-node intersections included in each composite node intersection is at least two, and may be three, four, five, etc., and is not particularly limited in the present application. Furthermore, the single-node intersections and composite node intersections shown in Figures 3 and 4 do not necessarily have roads that are orthogonal to each other. In actual applications, they may be orthogonal to each other, and is not particularly limited in the present application.

[0029] The computer device can determine, from map data, a complex node intersection for which an intersection surface is to be generated. The complex node intersection may be a complex node intersection for which high-precision data is lacking in a high-precision map, or a complex node intersection for which an intersection surface is to be generated in a normal-precision map. The computer device can acquire known map road network data and obtain road network data for each single-node intersection from the map road network data. If the road network data for at least two single-node intersections contain the same complex node intersection mark, the at least two single-node intersections form the same complex node intersection. The road network data for the complex node intersection can be obtained from the road network data for these single-node intersections, thereby allowing the computer device to determine one complex node intersection. The road network data for each single-node intersection may include road network data for at least two roads connected to the single-node intersection and may include the intersection mark of the complex node intersection where it is located. The road network data for each road may include a string of coordinate data (a sequence of points), i.e., a series of discrete location points of the road, may include intersection marks of the single-node intersections to which it is connected, and may include road attributes of the road, such as road width, road class, road name, number of road lanes, etc.

[0030] In step 204, the road surface of the complex node intersection is obtained based on the intersection information of the complex node intersection.

[0031] The intersection information of a complex node intersection includes intersection information of single-node intersections included in the complex node, for example, which single-node intersections are included in the complex node intersection; the intersection information of a complex node intersection further includes intersection information of each single-node intersection included therein; the intersection information of each single-node intersection also includes road information of roads connected to the single-node intersection, including, but not limited to, road class, number of lanes, etc. The road surface is a "surface-like" road obtained by widening a "linear" road included in a complex node intersection, and is essentially data on the lines of two sides of the road; that is, the road surface of a road can be drawn based on the lines of two sides of the road.

[0032] For a complex node intersection for which an intersection surface is to be generated, a computer device can obtain corresponding intersection information, thereby determining the single-node intersections included in the complex node intersection, the roads merging into each single-node intersection, and the road information of each road. To obtain the intersection surface of a complex node intersection, a computer device first needs to generate a road surface of the complex node intersection, which is generated based on the road surfaces of each road included in the complex node intersection. The road surface of a complex node intersection may be a set formed by the road surfaces of each road included in the complex node intersection.

[0033] As described above, in the original road network data of a map, each road is typically represented by a line segment with no width, making it a "linear" road. To generate a road surface at a complex node intersection, a computer device needs to widen the line segment with no width into a road surface with a certain width. The widening may be based on road information of the road, such as road class, number of lanes, etc., where lane class may be, for example, a main road, a secondary road, a branch road, etc., and lane class may be, for example, a first-class expressway, a second-class expressway, a third-class expressway, a fourth-class expressway, etc. Roads with different road information correspond to different widening widths, and the computer device widens each road into the corresponding road surface according to the road width. In some embodiments, the road information of a road may directly include the corresponding road width, and the computer device widens each road into the corresponding road surface according to the road width. In some embodiments, the road width of each road may be the same value. It is understood that the road surface formed after each road is widened includes a left edge line and a right edge line of the road surface. The road width for widening the road may be the road width on one side or the common road width on both sides, and the road widths on both sides may be the same or different.

[0034] In one embodiment, step 204 includes the steps of: obtaining road network data for each single-node intersection included in the complex node intersection; determining, based on the road network data, at least two roads connected to each single-node intersection to obtain a plurality of roads included in the complex node intersection; obtaining, for each road, corresponding road information including at least one of a road class, a number of lanes, and a lane width; determining, based on the road information, a road width corresponding to each road, and widening each road according to the respective road width to obtain a road surface of the road; and obtaining a road surface of the complex node intersection based on the road surface of each road.

[0035] In this embodiment, based only on the road information of the roads included in the complex node intersection, a narrow road can be widened to obtain the corresponding road surface, and the road surface of the complex node intersection can be generated simply and efficiently without relying on other additional data or complex policies.

[0036] As shown in Figure 5, Figure 5 is an exemplary effect diagram of a road surface of a complex node intersection in one embodiment. Referring to Figure 5, according to the road attribute information of each road (link) included in the complex node intersection shown in Figure 4, each road is widened on both sides according to the corresponding road width to form the road surface of the complex node intersection.

[0037] In step 206, the intersection plane of each single-node intersection in the at least two single-node intersections is determined respectively.

[0038] As described above, each single-node intersection is a node formed by the merging of at least two line segments (links), and the node represents one single-node intersection. Thus, a single-node intersection is "point-like" data. To obtain an intersection surface of a complex node intersection, a computer device must first generate an intersection surface of each single-node intersection included in the complex node intersection, and then expand the "point-like" data into "surface-like" data. The embodiments of the present application do not limit the method or specific algorithm for generating the intersection surface of each single-node intersection.

[0039] For example, in some embodiments, after obtaining the road surface of the complex node, for the road surface of each single-node intersection therein, the computer device extends outward from each single-node intersection along the road surface of each road by a certain offset distance to obtain a perpendicular line to the road surface (also called a tangent line to the road surface), and connects the perpendicular lines on the road surface of each road to form a closed shape, which is the intersection surface of the single-node intersection.

[0040] For example, in some embodiments, the computer device may further determine the intersection points between the tangent lines and the lines of the sides of the road surface, and based on the intersection points on the road surface of each road, determine the smallest convex polygon to be the intersection surface of the single-node intersection.

[0041] In the above method, because an offset distance is specified, the shape of the intersection surface may be abnormal and may not accurately match the actual situation. Therefore, to adapt the shape of the intersection surface of each single node to the actual situation and realistically reflect the actual situation of the intersection, the computer device may constrain the tangents of each road connected to the single-node intersection, i.e., (1) the tangents are perpendicular to the road surface, and (2) the tangents do not intersect with each other or intersect only at the tangent endpoints. Furthermore, provided that the above constraints are satisfied, the area of ​​the intersection surface of the single-node intersection may be constrained to be as small as possible. The computer device may employ any algorithm or policy to achieve the above constraints to ensure that the shape of the intersection surface of the single node matches the actual situation, but this is not a limitation of the embodiments of the present application. Specific embodiments will be described in detail later.

[0042] As shown in Figure 6, Figure 6 is a schematic diagram of the intersection surface of each single node in the complex node intersection generated in one embodiment. Referring to Figure 6, for the four single nodes included in the complex node intersection shown in Figure 4, the computer device generates the intersection surface of each single node.

[0043] In step 208, an enclosing surface of the complex node intersection is generated based on the intersection surface of each single node intersection.

[0044] Here, the enclosing surface is a closed shape formed by the edge lines of the intersection surface of the complex node intersection, where the edge lines of the intersection surface are represented by a series of ordered discrete location points, and these discrete, ordered location points can be used to draw the edge lines of the intersection surface of the complex node intersection. Specifically, after obtaining the intersection surfaces of each single-node intersection included in the complex node intersection, a computer device generates an enclosing surface based on the intersection surfaces of each single-node intersection, and the enclosing surface can enclose the intersection surfaces of each single-node intersection. Exemplarily, the enclosing surface is a convex hull with the smallest area that encloses the intersection surfaces of each single-node intersection, i.e., a convex hull intersection surface. Exemplarily, the enclosing surface is a convex hull with the smallest area that encloses the intersection surfaces of each single-node intersection, and each boundary line of the convex hull is perpendicular to the corresponding road surface. Exemplarily, the enclosing surface is the largest irregular shape formed by all shape points of the intersection surfaces of each single-node intersection. The enclosing surface is essentially a sequence of data points that can form a continuous, ordered, closed shape.

[0045] In one embodiment, the step of generating an enclosing surface of the complex node intersection based on the intersection surface of each single-node intersection includes the steps of obtaining a first shape point set based on shape points included in the intersection surface of each single-node intersection, and calculating, based on the first shape point set, the smallest convex polygon that encloses all shape points in the first shape point set, to be the enclosing surface of the complex node intersection.

[0046] Here, as described above, the intersection surface of each single-node intersection is a closed shape, the closed shape is formed by a plurality of shape points, and it can be understood that a shape point is a bending point on the boundary of the closed shape. After determining the intersection surface of each single-node intersection included in the complex node intersection, the computer device collects the shape points on the intersection surface of each single-node intersection to obtain a first shape point set, and then the computer device calculates the smallest convex polygon that encloses all shape points in the first shape point set, and defines the smallest convex polygon as the enclosing surface of the complex node intersection.

[0047] As shown in Figure 7, Figure 7 is a schematic diagram of the enclosing surface of a complex node intersection in one embodiment. Referring to Figure 7, the complex node intersection includes four single-node intersections, and the smallest convex polygon that includes all the shape points of these four single-node intersections is the enclosing surface of the complex node intersection.

[0048] In one embodiment, if it is desired that the boundaries of the intersection surface of the finally generated complex node intersection are all perpendicular to the road surface, the computer device can also extend the smallest convex polygon outward so that the boundaries are all perpendicular to the road surface of each road, thereby obtaining an enclosing surface of the complex node intersection. After obtaining the enclosing surface, the subsequent enclosing surface is integrated into the road surface of the complex node intersection based on the enclosing surface to obtain the intersection surface of the complex node intersection. As shown in Figure 8, Figure 8 is a schematic diagram of the enclosing surface of a complex node intersection in one embodiment, where the boundaries corresponding to the enclosing surface are all perpendicular to the road surface of each road.

[0049] In some embodiments, the computer device determines the largest irregular shape that can be formed by the shape points of the intersection surface of each single-node intersection, as the surrounding surface of the complex node intersection, and then integrates the subsequent surrounding surface into the road surface of the complex node intersection based on the surrounding surface to obtain the intersection surface of the complex node intersection. As shown in Figure 9, Figure 9 is a schematic diagram of the surrounding surface of a complex node intersection in another embodiment, where the surrounding surface is an irregular shape and has an abnormal shape.

[0050] The above embodiment is based on the method of enclosing the intersection surface of the included single-node intersection, and is highly versatile and universal, and can easily and efficiently generate the initial form of the intersection surface of the complex-node intersection, without relying on other extra data or complex policies.

[0051] In step 210, the enclosing surface is merged with the road surface to obtain the intersection surface of the complex node intersection.

[0052] In this embodiment, to obtain an intersection surface that is more closely aligned with the actual conditions of the intersection, the computer device uses the road surface of the road corresponding to the composite node intersection to perform further processing on the enclosing surface, i.e., integrates the enclosing surface with the road surface to obtain the intersection surface of the composite node intersection. Specifically, the computer device further "trimming" the enclosing surface to make the intersection boundary more accurate, smooth, and natural, thereby ultimately obtaining an intersection surface of the composite node intersection that is more closely aligned with the actual road conditions. Therefore, "trimming" in this embodiment refers to performing further processing based on the enclosing surface of the composite node intersection obtained in the above steps to obtain an enclosing surface that is more closely aligned with the actual road conditions, which can be used as the intersection surface of the composite node intersection. Of course, in some embodiments, the computer device can also use the enclosing surface obtained in the previous step 208 as the intersection surface generated for the composite node intersection.

[0053] As shown in Figure 10, Figure 10 is an exemplary effect diagram of the enclosing surface and the road surface in one embodiment, which shows that the current enclosing surface does not match well with the multiple roads included in the complex node intersection, and the enclosing surface exceeds the range of the road surface, so the accuracy of the generated intersection surface is low.

[0054] This allows the computer equipment to be further trimmed relative to the enclosure.

[0055] The computer device can first determine a trim point. In this embodiment, the trim point can be the intersection point between the boundary line corresponding to the enclosing surface of the composite node intersection and the edge line of the road surface of the road included in the composite node. As shown in Figure 11, Figure 11 is a schematic diagram of trim points on the boundary line corresponding to the enclosing surface in one embodiment. Referring to Figure 11, the white dots in the figure are trim points.

[0056] In one embodiment, step 210 may be a step of determining the edge lines of the road surface of each road included in the road surface of the complex node intersection, determining the intersection points between the boundary line of the enclosing surface of the complex node intersection and the edge lines of the road surface to obtain a trim point set formed by the trim points of the enclosing surface, determining each two adjacent trim points in the trim point set, and connecting each two adjacent trim points with a straight line to obtain the intersection surface of the complex node intersection. As shown in Figure 12, Figure 12 is a schematic diagram of the intersection surface of an irregular-shaped complex node intersection in one embodiment.

[0057] In one embodiment, step 210 may further include determining the edge lines of the road surface of each road included in the road surface of the composite node intersection, determining the intersection points between the boundary lines corresponding to the enclosing surface of the composite node intersection and the edge lines of the road surface to obtain a trim point set formed by the trim points of the enclosing surface, determining each two adjacent trim points in the trim point set, and performing a smoothing process between each two adjacent trim points on the enclosing surface to obtain the intersection surface of the composite node intersection.

[0058] Here, the road surface edge lines of each road included in the road surface of the complex node intersection include the left side edge line and the right side edge line of the road surface of each road, and the boundary line corresponding to the enclosing surface of the complex node intersection is also the enclosing line of the enclosing surface. The computer device can determine a trim point set formed by the trim points of the enclosing surface based on the intersection of the point sequence representing the enclosing line and the point sequence representing the road surface edge lines of each road, which will be denoted as trimPoints.

[0059] For each two adjacent trim points on the enclosing surface, "adjacent" means that the two trim points are adjacent in the order of front-to-back on the boundary of the enclosing surface. In order to smooth the connection between the two adjacent trim points, the order of the trim points needs to be determined, and the trim points are reordered to determine each two adjacent trim points in the trim point set.

[0060] In one embodiment, determining each two adjacent trim points in the trim point set includes determining a second shape point set formed by shape points of the enclosing surface, where the shape points have a front-to-back order; calculating, for each trim point in the trim point set, a left-side shape point and a right-side shape point of the trim point in the second shape point set; and ordering, for each trim point in the trim point set, according to the front-to-back order of the corresponding target shape point, and determining each two adjacent trim points in the trim point set based on the ordering results, where the target shape point is the left-side shape point or the right-side shape point.

[0061] An enclosing surface is a closed shape formed by a plurality of shape points, and the shape points of the enclosing surface are break points such as A, B, and C shown in Figure 10 on the boundary line corresponding to the enclosing surface. These break points have a front-to-back order on the boundary line, and the front-to-back order may be a clockwise order formed from a certain break point as a starting point, or a counterclockwise order formed from a certain break point as a starting point. A second shape point set formed by these shape points can be referred to as basePoints.

[0062] For each trim point "point" in the trim point set, the computer device determines the left-adjacent shape point p1 and the right-adjacent shape point p2 of each trim point in the second shape point set. That is, by determining between which two neighboring points (p1, p2) in the second shape point set the trim point "point" is located, the trim points "point" can be reordered according to the front-to-back order of p1 on the boundary line corresponding to the enclosing surface (which can be determined by the index) or the front-to-back order of p2 on the boundary line corresponding to the enclosing surface.

[0063] As shown in Figure 13, Figure 13 is a flowchart of reordering trim points on an enclosing surface in one embodiment. Referring to Figure 13, the step of reordering trim points includes the following steps:

[0064] In step 1302, a set of trim points trimPoints and a set of second shape points basePoints are determined.

[0065] In step 1304, for each trim point in trimPoints, it is determined between which two neighboring points (p1, p2) in the second shape point set the trim point is located, and the index of p1 or p2 on the boundary of the enclosing surface is denoted as index.

[0066] It can be understood that the trim point "point" is determined between two neighboring points (p1, p2) in the second shape point set, and then a 2D tuple of trim points can be obtained uniformly according to the index of p1 on the boundary of the enclosing surface, or a 2D tuple of trim points can be obtained uniformly according to the index of p2 on the boundary of the enclosing surface. The corresponding indexes of two trim points "point" may match, and if they match, the distances between these two points and the shape points "basePoints(index)" corresponding to the indices are compared and reordered; if they do not match, the sizes of the indices are directly compared and ordered according to the size of the index.

[0067] In step 1306, the trim point point is recorded as a two-dimensional tuple (point, index).

[0068] In step 1308, for each trim point in trimPoints, the trim points are ordered according to the index, and a reordered trim point sequence is obtained.

[0069] For example, the corresponding index of each shape point in the second shape point set basePoints is determined in ascending order in a clockwise direction, and the shape points are uniformly ordered in ascending order of the index of p1 on the boundary line of the enclosing surface. If the indices corresponding to two trim points point match, the trim point that is closer to the shape point basePoints(index) corresponding to that index is ordered in a rearward position, and the trim point with a greater distance is ordered in a forward position.

[0070] After obtaining the reordered trim point sequence, the computer device can determine each two adjacent trim points in the trim point set.

[0071] In one embodiment, the step of performing a smoothing process between each two adjacent trim points on the enclosing surface includes a step of connecting the two adjacent trim points with a straight line if the two adjacent trim points are located on a line of an edge of the road surface of the same road on the enclosing surface, and a step of connecting the two adjacent trim points with a smooth curve if the two adjacent trim points are located on a line of an edge of the road surface of different roads on the enclosing surface.

[0072] As shown in Figure 14, Figure 14 is a schematic diagram illustrating the effect of smoothly connecting trim points in one embodiment. Referring to Figure 14, in Figure 14, adjacent trim points M and N are located on the line of two sides of the road surface of the same road in the enclosing surface, in this case, trim points M and N are directly connected by a straight line, and adjacent trim points P and Q are located on the line of two sides of the road surface of a different road in the enclosing surface, in this case, trim points P and Q are connected by a smooth curve.

[0073] In one embodiment, the smooth curve is a Bezier curve, and the step of generating a Bezier curve between two adjacent trim points includes the steps of: extending the two adjacent trim points along the edge lines of the road surface where the trim points are located, respectively, in the direction of a single-node intersection to which the edge lines of the road surface are connected, to obtain two control points; and generating a Bezier curve based on the two adjacent trim points and the two control points.

[0074] In some embodiments, two control points are determined for two adjacent trim points located on the road surface edge line of different roads in the enclosing surface, and a fourth-order Bézier curve is generated based on the two adjacent trim points and the two control points, thereby ensuring that the Bézier curve is tangent to the road surface edge line where the two adjacent trim points are located, and achieving a better connection smoothing effect. In some embodiments, one control point may be determined between the two adjacent trim points, and a third-order Bézier curve may be generated based on the one control point and the two adjacent trim points. Three control points may be determined between the two adjacent trim points, and a fifth-order Bézier curve may be generated based on the three control points and the two adjacent trim points.

[0075] As shown in Figure 15, Figure 15 is a schematic diagram showing the smooth connection of Bezier curves in one embodiment. Referring to Figure 15, road surface edge line 1 is the edge line of one side of the road surface of road 1 (link 1), and road surface edge line 2 is the edge line of one side of the road surface of road 2 (link 2). P1 and P2 are trim points where the composite road surface intersects with road surface edge line 1 and road surface edge line 2, respectively. The computer calculates the Bezier curve between P1 and P2 using the following method. Here, a fourth-order Bezier curve is taken as an example, and two additional control points need to be calculated in addition to P1 and P2. The calculation method is as follows: calculate point P11 at a distance d1 along the direction of line 1 of the road surface edge from P1 to the connected single-node intersection, and calculate point P22 at a distance d2 along the direction of line 2 of the road surface edge from P2 to the connected single-node intersection. Then, the computer device calculates a sequence of points corresponding to the Bezier curve between P1 and P2 based on the trim points P1 and P2 and the control points P11 and P22, and can use the sequence of points to smoothly connect P1 and P2.

[0076] As shown in Fig. 16, Fig. 16 is a schematic diagram of an intersection surface of a complex node intersection generated in one embodiment. Referring to Fig. 16, the closed irregular shape in the figure is the intersection surface of the finally generated complex node intersection, and the computer device stores the point sequence corresponding to the boundary line of the intersection surface and the intersection mark of the complex node intersection in association with each other as attribute data of the complex node intersection so that other applications or interfaces can quickly use it when displaying and rendering the complex node intersection.

[0077] The following describes in detail how to generate the intersection face of each single-node intersection included in the complex node intersection.

[0078] In one embodiment, in step 206, the step of respectively determining the intersection surface of each single-node intersection in the at least two single-node intersections includes the steps of: for each single-node intersection, determining at least two roads connected to the single-node intersection; obtaining constraints and an objective function, wherein the objective function indicates a solution target for the area size of the intersection surface of the single-node intersection, the constraints indicate limit conditions for the area size, the constraints include a constraint relationship between offset variables of each two adjacent roads among the at least two roads, and the objective function includes at least two offset variables, each offset variable indicating a distance condition from the single-node intersection to a tangent of the corresponding road; solving the objective function based on the road surface widths of each road in the at least two roads and the constraints to obtain the road offset distances; and generating the intersection surface of the single-node intersection based on the road surface widths of the roads and the road offset distances.

[0079] As shown in FIG. 17, FIG. 17 is a schematic diagram of a road surface of a single-node intersection in one embodiment. For four roads (i.e., link1 to link4) connected to the single-node intersection A, each road can be widened to 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 sub-road surface on the left side of link1 (i.e., lw1 ) and the width information of the road surface of the sub-road surface on the right side of link1 (i.e., r w1 ) for link2, the corresponding road surface width information is also the road surface width information of the sub-road surface on the left side of link2 (i.e., l w2 ) and the width information of the road surface of the sub-road surface on the right side of link2 (i.e., r w2 Similarly, the width information of the road surface of link3 and the width information of the road surface of link4 can be understood by specifically referring to the width information of the road surface of link1 and link2.

[0080] If the tangents of each road intersect, the intersection surface shape of the generated single-node intersection will be abnormal and will not accurately reflect the actual intersection surface. Therefore, to avoid abnormalities in the intersection surface shape, it is necessary to prevent the tangents of each road from intersecting. Each road is perpendicular to its corresponding tangent, and the position of the tangent can be expressed as the distance from the intersection point of the tangent and the link to the single-node intersection.

[0081] The distance from the intersection of the tangent and the link to the single-node intersection is called the offset distance, which will be described later in the embodiments of this application. Whether the tangents corresponding to each road intersect depends on the offset distance of each road. If the offset distance of the road is too small, the corresponding tangents will intersect at the middle of the tangents, resulting in an abnormal shape of the intersection surface.

[0082] For example, FIG. 18 is a schematic diagram illustrating the intersection of road tangents provided by an embodiment of the present application. As shown in FIG. 18, the tangent of link1 (i.e., L1) intersects with the tangent of link2 (i.e., L2), and the intersection of L1 and L2 is limited by the value of the offset variable of link1 (i.e., w1) and the value of the offset variable of adjacent link2 (i.e., w2). Similarly, L2 intersects with the tangent of link3 (i.e., L3), and is similarly limited by the value of w2 and the value of the offset variable of adjacent link3 (i.e., w3). The case where L3 intersects with the tangent of link4 (i.e., L4) and the case where L4 intersects with L1 can also be understood with reference to the case where L1 intersects with L2 or the case where L2 intersects with L3, and will not be described in detail here. It should be understood that the road tangent intersection shown in Figure 18 is described only as an example in which all four links intersect, and in actual applications, a situation in which only two or three of the links intersect may occur, and this application does not specifically limit it. In addition, the offset variable mentioned can be used to indicate the distance situation from a single-node intersection to the corresponding road tangent, for example, the distance situation from single-node intersection A to tangent L1 of link1. When a specific value is given to the offset variable, it can be called an offset distance.

[0083] 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 also 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, regardless of whether the four links of the same single-node intersection are ordered clockwise or counterclockwise, the coupling relationships among the offset variables w1, w2, w3, and w4 are mutually constrained. Therefore, in the embodiment of the present application, a mathematical optimization method can be adopted to process this coupling relationship. That is, the constraint relationships among the offset variables of each road are converted into constraint equations that optimize the problem.

[0084] The computer device establishes the constraint condition based on the constraint relationship between the offset variables of each of the two adjacent roads, and determines the value of the offset variable w of each road so that the corresponding tangent lines L do not intersect or intersect only at their endpoints. The constraint relationship between the offset variables of each of the two adjacent roads can be established using included angle information between each of the two adjacent roads. For example, the computer device can determine included angle information between each of the two adjacent roads based on road surface width information of each of the two adjacent roads and the offset variables of the corresponding roads, and then establish a constraint condition based on the included angle information between each of the two adjacent roads.

[0085] The constraint conditions can be established by adopting the following method: the road surface of each road includes a line of a left side of the road surface and a line of a right side of the road surface, the computer device obtains an included angle between a first road and a second road, the first road and the second road being adjacent roads among the at least two roads, and obtains a first included angle between the first road and the line of the right side of the road surface of the first road, a second included angle between the second road and the line of the left side of the road surface of the second road, and a third included angle between the line of the right side of the road surface of the first road and the line of the left side of the road surface of the second road, and the constraint conditions can be established 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.

[0086] Taking the diagram in the upper right corner of Figure 19 as an example, link1 in Figure 19 can be understood as the first road, and link2 as the second road, and link1 is adjacent to link2 and connected to single-node intersection point A. The intersection point of tangent line L1 and the line of the right side of the road surface of link1 is P1, and the intersection point of tangent line L2 and the line of the left side of the road surface of link2 is P2. With point A as the origin, the included angle between link1 and link2, i.e., α 12Similarly, the first included angle, i.e., α1, can be obtained by calculating the angle between link1 and P1A with point A as the origin. For example, the tangent line L1 is perpendicular to link1, and the width of the road surface of the right sub-road surface of link1 is r wi Therefore, the width r of the road surface of the right sub-road surface of link1 is calculated by the arctangent function. wi and process the offset variable w1 of link1,

number

number

[0087] To ensure that L1 and L2 do not intersect or intersect only at their endpoints, the included angles α1 and α2 should satisfy:

number

number

[0088] Here, minα1 is the minimum value of the included angle P1AP2, that is, the included angle between the line on the right side of the road surface of link1 and the line on the left side of the road surface of link2. Furthermore, α1 ≥ 0. This is the constraint. If n (n > 1) roads are connected to a single-node intersection A, n constraints are constructed.

[0089] If it is desired that the intersection surface of the single-node intersection to be generated be as small as possible, provided that the above-mentioned constraints are satisfied, the area size of the intersection surface of the single-node intersection can be used as an objective function, and the area size can be limited by the constraints established as described above. It should be noted that the objective function includes at least two offset variables, and the constraint relationship between each offset variable can be understood with reference to the constraints established as described above. In other words, the area size of the intersection surface is affected by the value of the offset variable of the road connected to the single-node intersection. Therefore, the expression of the size of the value of the offset variable w of the road related to the single-node intersection can be used as the expression of the area size of the intersection surface of the single-node intersection. For example, for the single-node intersection A in FIG. 19, if the sum of squares of the offset variable w is used as the expression of the area size of the intersection surface, the area size of the intersection surface can be expressed as 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. In addition to the sum of squares of the offset variables, the area size of the intersection plane can also be expressed using the sum of cubes of the offset variables, the sum of N (N≧2) powers, the sum of absolute values, etc. in actual applications, and is not specifically limited in the embodiments of the present application.

[0090] In this way, the objective function for the area size of the intersection surface, i.e., minV=w1 2 +w2 2 +w3 2 +w4 2 After the constraint conditions are established and the objective function is obtained, a solution calculation is performed for the objective function based on the road surface width information and the constraint conditions, and the specific values ​​of each offset variable in the objective function are calculated, that is, the offset distance of each road can be obtained.

[0091] Based on the constraints and road surface width information, the objective function can be solved based on a predetermined constraint optimization model such as an interior point method. For example, after obtaining road surface width information for each road (including road surface width information for the left sub-road surface and the right sub-road surface), the road surface width information for each road can be processed using the predetermined constraint optimization model to obtain specific values ​​of the offset variables for each road, i.e., optimal solutions for the offset distances of each road. After calculating the offset distances for each road, the intersection surface of the single-node intersection can be generated based on the road surface width information for each road and the corresponding road offset distances.

[0092] In the above method for generating the intersection surface of a single-node intersection, it is only necessary to construct a constraint condition based on the constraint relationship between the offset variables of adjacent roads and calculate the road offset distance in combination with the width information of the road surface of the road, and the intersection surface of the intersection node can be efficiently generated without relying on a complex pure geometric algorithm.

[0093] As shown in Figure 20, Figure 20 is a flowchart of generating an enclosing surface in one specific embodiment. The method can be performed by a computer device, and with reference to Figure 20, includes the following steps:

[0094] In step 2002, if the road network data of each of at least two single-node intersections includes the same composite node intersection mark, determine the composite node intersection corresponding to the composite node intersection mark formed by the at least two single-node intersections.

[0095] In step 2004, the road network data for each single-node intersection included in the complex-node intersection is obtained.

[0096] In step 2006, at least two roads connected to each single-node intersection are determined based on the road network data to obtain a plurality of roads included in the multi-node intersection.

[0097] In step 2008, for each road, obtain corresponding road information, including at least one of road class, number of lanes, and lane width, determine the road width corresponding to each road based on the road information, and widen each road according to the respective road width to obtain the road surface of the road.

[0098] In step 2010, the road surface of the complex node intersection is obtained based on the road surface of each road.

[0099] In step 2012, the intersection plane of each single-node intersection in the at least two single-node intersections is determined respectively.

[0100] In step 2014, a first set of shape points is obtained based on the shape points contained in the intersection plane of each single-node intersection.

[0101] In step 2016, based on the first shape point set, the smallest convex polygon that encloses all shape points in the first shape point set is calculated to obtain the enclosing surface of the complex node intersection.

[0102] In step 2018, the road surface edge lines of each road included in the road surface of the complex node intersection are determined.

[0103] In step 2020, the intersection points between the boundary line of the enclosing surface of the complex node intersection and the edge lines of the road surface are determined to obtain a set of trim points formed by the trim points of the enclosing surface.

[0104] In step 2022, a second set of shape points formed by the shape points of the enclosing surface is determined, where the shape points have a front-to-back order.

[0105] In step 2024, for each trim point in the trim point set, the left and right adjacent shape points of the trim point in the second shape point set are calculated.

[0106] In step 2026, for each trim point in the trim point set, the trim points are ordered according to the front-to-back order of the corresponding target shape points, and based on the ordering results, each of the two adjacent trim points in the trim point set is determined, and the target shape point is the left-neighboring shape point or the right-neighboring shape point.

[0107] In step 2028, if two adjacent trim points are located on the line of the side of the road surface of the same road on the enclosing surface, the two adjacent trim points are connected by a straight line.

[0108] In step 2030, if two adjacent trim points are located on the line of the road surface edges of different roads on the enclosing surface, the two adjacent trim points are connected by a smooth curve.

[0109] In step 2032, the intersection plane of the complex node intersection is obtained based on the connected trim points.

[0110] Here, in step 2030, the step of connecting two adjacent trim points with a smooth curve may include the steps of extending the two adjacent trim points along the edge lines of the road surface where the trim points are located, respectively, in the direction of the single-node intersection to which the edge lines of the road surface are connected, to obtain two control points; and generating a Bezier curve based on the two adjacent trim points and the two control points, and connecting the two adjacent trim points using the Bezier curve.

[0111] Here, in step 2012, the step of generating an intersection surface for each single-node intersection includes the steps of: determining, for each single-node intersection, at least two roads connected to the single-node intersection; determining included angle information between each of the two adjacent roads based on the widths of the road surfaces of each of the two adjacent roads and the offset variables of the corresponding roads, the included angle information indicating an intersection situation between tangents corresponding to each of the two adjacent roads; and obtaining included angles between a first road and a second road, the first road and the second road being adjacent roads of the at least two roads; and obtaining a first included angle between the first road and a line of a right side edge of the road surface of the first road, a second included angle between the second road and a line of a left side edge of the road surface of the second road, and a third included angle between the right side edge of the road surface of the first road and a line of a left side edge of the road surface of the second road. The method may include the steps of: obtaining an angle; constructing constraints 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; obtaining an objective function, wherein the objective function indicates a solution target for the area size of the intersection surface of the single-node intersection, and the constraints indicate limiting conditions for the area size, and the constraints include a constraint relationship between offset variables of each of two adjacent roads among the at least two roads, and the objective function includes at least two offset variables, each offset variable indicating a distance situation from the single-node intersection to a tangent of a corresponding road; solving the objective function based on the road surface widths of each road in the at least two roads and the constraints to obtain the road offset distances; and generating the intersection surface of the single-node intersection based on the road surface widths of the roads and the road offset distances.

[0112] In the above-mentioned intersection surface generation method, for a composite node intersection including at least two single-node intersections, the road surface of the composite node intersection is obtained based on the intersection information of the composite node intersection, and an enclosing surface of the composite node intersection is generated based on the intersection surfaces of each of the single-node intersections included.The intersection surface of the composite node intersection can then be obtained simply by trimming the enclosing surface within the road surface.This method allows for simple, efficient, and high-quality generation of enclosing surfaces by relying only on a small amount of original data, does not require the introduction of complex calculation policies, can avoid extreme cases, and is highly robust.

[0113] The intersection surface generation method provided by the embodiments of the present application can be applied to any scenario in which an intersection surface of a complex node intersection needs to be generated based on original road network data. For example, even in areas where corresponding high-precision data is lacking in a high-precision map, the intersection surface generation method provided by the embodiments of the present application can be used to generate corresponding intersection surfaces for complex node intersections in these areas using general map data. For example, the intersection surface of a complex node intersection can be efficiently generated by relying only on the original general map data, without relying on other routing information. For example, after the generated intersection surface of a complex node intersection is called by a map application, it can be rendered and displayed directly based on the point sequence data of the intersection surface. For example, in a game application related to an urban road model, the corresponding game screen can be rendered and displayed directly based on the point sequence data of the intersection surface in the urban road model. Of course, the application scenarios are not limited to the above examples.

[0114] A detailed explanation will be given below using one scene as an example.

[0115] Even in areas where there is a lack of corresponding high-precision data on a high-precision map, the method for generating intersection surfaces provided by the embodiments of the present application based on general map data can be adopted to solve the problem of not being able to render and display intersection surfaces on a high-precision map in the above areas.

[0116] The computer device first identifies areas within a map lacking high-precision maps, such as areas within the Route 5 Circular Route of a city, and obtains road network data for generating original general maps for each road in these areas. In the road network data of the general map, roads are represented as line segments with no width, i.e., by a set of data points (links), also known as point strings. The road network data for a road also includes road information. If the road network data for multiple roads contain the same single-point intersection mark, the multiple roads form a single-node intersection. For each single-node intersection, the computer device can generate an intersection surface for the single-node intersection. The generation of the intersection surface is intended to generate coordinates of the shape points of the road. The intersection surface for a single-node intersection is actually represented by a set of data points, each of which has one coordinate, and the set of data points can form a closed polygon. For single-node intersections within these areas, the computer device can generate corresponding intersection surfaces. The generation of the intersection surface is intended to generate coordinates of the shape points of the boundary of the intersection surface. In high precision maps, the coordinates of these boundary shape points are generally given directly from the original data provided at a higher level.

[0117] If the road network data of multiple single-node intersections contain the same complex node intersection mark, the multiple single-node intersections form a complex node intersection. For such complex node intersections, a computer device can generate a corresponding intersection surface. Specifically, the computer device can determine multiple single-node intersections included in the complex node intersection and, for each single-node intersection, determine at least two roads connected to the single-node intersection based on the corresponding road network data. In this way, multiple roads included in the complex node intersection can be obtained. As described above, roads are line segments with no width. For each road, the computer device obtains corresponding road information, determines the road width corresponding to each road based on the road information, and widens each road according to its respective road width to obtain the road surface of the road. Each road surface of the road includes a line on the left side of the road surface and a line on the right side of the road surface. In this way, the road surface is represented by three line segments: a set of original data points (links), point sequence data representing the line on the left side of the road surface, and point sequence data representing the line on the right side of the road surface. Next, the computer device obtains an intersection surface of each single-node intersection in the complex node intersection, where the intersection surface of the single-node intersection is a set of data points, and the set of data points can form a closed polygon. The computer device calculates the smallest convex polygon that surrounds the shape points included in the intersection surface of each single-node intersection to obtain an enclosing surface of the complex node intersection, where the intersection surface of the complex node intersection is actually a set of data points, and the set of data points can form a closed polygon. Then, the computer device determines the edge lines of the road surface of each road included in the road surface of the complex node intersection, and determines a trim point set formed by trim points on the enclosing surface based on the intersection of the point sequence data representing the edge lines of the road surface and the point sequence data representing the boundary line of the enclosing surface of the complex node intersection, and determines each two adjacent trim points in the trim point set by ordering the trim points according to the order of the trim points on the boundary line of the enclosing surface.Furthermore, for the trim points on the enclosing surface, the computer device connects two adjacent trim points located on the edge lines of the road surface of the same road with a straight line, and connects two adjacent trim points located on the edge lines of the road surface of different roads with a smooth curve, thereby obtaining a final intersection surface.

[0118] For the above-mentioned areas where high-precision data is lacking, the computer device can pre-store point sequence data representing the intersection surfaces of single-node intersections, point sequence data representing the intersection surfaces of multiple-node intersections, etc. in a map database, and render and display high-precision maps of these areas as a complement to the high-precision map data required for these areas.

[0119] In this way, in map navigation processing, if a terminal or in-vehicle terminal is currently moving to a position near a certain composite node intersection within the above-mentioned area and it is necessary to display the intersection surface of the composite node intersection, the map application on the terminal or in-vehicle terminal can directly call up the point sequence data representing the intersection surface of the composite node intersection from the map database, and efficiently render and display a high-precision map navigation screen for the current position based on the called point sequence data.

[0120] It should be understood that although the steps in the flowcharts according to the above-described embodiments are displayed sequentially according to the arrows, these steps are not necessarily performed sequentially in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not limited to a strict order, and these steps may be performed in other orders. Furthermore, at least some of the steps in the flowcharts according to the above-described embodiments may include multiple steps or multiple stages, and these steps or stages may not necessarily be performed simultaneously but may be performed at different times. Furthermore, the execution order of these steps or stages does not necessarily have to be sequential but may be alternating with other steps or at least some of the steps or stages in other steps.

[0121] Based on the same inventive concept, the embodiments of the present application further provide an intersection plane generation device for realizing the above-mentioned intersection plane generation method. Since the problem-solving embodiments provided by the device are similar to those described in the above-mentioned method, the specific limitations of one or more intersection plane generation device embodiments provided below may refer to the limitations related to the above-mentioned intersection plane generation method, and will not be repeated here.

[0122] In one embodiment, as shown in FIG. 21 , an intersection surface generation device 2100 is provided, which includes a determination module 2102, a road surface generation module 2104, a single-node intersection surface generation module 2106, an enclosing surface generation module 2108, and an integration module 2110.

[0123] The determining module 2102 is configured to determine a complex node intersection, the complex node intersection including at least two single node intersections; The road surface generation module 2104 is configured to obtain a road surface of the complex node intersection based on the intersection information of the complex node intersection; the single-node intersection surface generation module 2106 is configured to respectively determine an intersection surface of each single-node intersection in the at least two single-node intersections; the enclosing surface generation module 2108 is configured to generate an enclosing surface of the complex node intersection based on the intersection surface of each single node intersection; The merging module 2110 is configured to merge the enclosing surface with the road surface to obtain an intersection surface of the complex node intersection.

[0124] In one embodiment, the determination module 2102 is further configured to determine a composite node intersection corresponding to a composite node intersection mark formed by the at least two single-node intersections when the road network data of each of the at least two single-node intersections includes the same composite node intersection mark.

[0125] In one embodiment, the road surface generation module 2104 is further configured to: obtain road network data for each single-node intersection included in the complex node intersection; determine, based on the road network data, at least two roads connected to each single-node intersection to obtain a plurality of roads included in the complex node intersection; obtain corresponding road information for each road, including at least one of a road class, a number of lanes, and a lane width; determine, based on the road information, a road width corresponding to each road; widen each road according to the respective road width to obtain a road surface for the road; and obtain a road surface for the complex node intersection based on the road surface of each road.

[0126] In one embodiment, the single-node intersection surface generation module 2106 is further configured to perform the following steps: for each single-node intersection, determining at least two roads connected to the single-node intersection; obtaining constraints and an objective function, wherein the objective function indicates a solution target for the area size of the intersection surface of the single-node intersection, the constraints indicate limit conditions for the area size, the constraints include a constraint relationship between offset variables of each of two adjacent roads among the at least two roads, and the objective function includes at least two offset variables, each offset variable indicating a distance condition from the single-node intersection to a tangent of the corresponding road; solving the objective function based on the road surface widths of each road in the at least two roads and the constraints to obtain the road offset distances; and generating the intersection surface of the single-node intersection based on the road surface widths of the roads and the road offset distances.

[0127] In one embodiment, the single-node intersection surface generation module 2106 is further configured to perform the steps of: determining included angle information between each of the two adjacent roads based on the road surface widths of each of the two adjacent roads and the offset variables of the corresponding roads, where the included angle information indicates the intersection situation between the tangents corresponding to each of the two adjacent roads; and constructing a constraint condition based on the included angle information between each of the two adjacent roads.

[0128] In one embodiment, the single-node intersection surface generation module 2106 is further configured to perform the steps of: 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; obtaining a first included angle between the first road and a line of a right side of the road surface of the first road, a second included angle between the second road and a line of a left side of the road surface of the second road, and a third included angle between the line of the right side of the road surface of the first road and a line of a left side of the road surface of the second road; and constructing constraints 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.

[0129] In one embodiment, the enclosing surface generation module 2108 is further configured to obtain a first shape point set based on the shape points included in the intersection surface of each single-node intersection, and calculate, based on the first shape point set, a smallest convex polygon that encloses all shape points in the first shape point set to obtain an enclosing surface of the complex node intersection.

[0130] In one embodiment, the integration module 2110 is further configured to determine the edge lines of the road surface of each road included in the road surface of the complex node intersection, determine the intersection points between the boundary lines of the enclosing surface of the complex node intersection and the edge lines of the road surface to obtain a trim point set formed by the trim points of the enclosing surface, determine each two adjacent trim points in the trim point set, and perform a smoothing operation between each two adjacent trim points on the enclosing surface to obtain the intersection surface of the complex node intersection.

[0131] In one embodiment, the integration module 2110 is further configured to perform the steps of: determining a second shape point set formed by the shape points of the enclosing surface, where the shape points have a front-to-back order; for each trim point in the trim point set, calculating a left-neighboring shape point and a right-neighboring shape point of the trim point in the second shape point set; and for each trim point in the trim point set, ordering according to the front-to-back order of the corresponding target shape point, and determining each two adjacent trim points in the trim point set based on the ordering results, where the target shape point is a left-neighboring shape point or a right-neighboring shape point.

[0132] In one embodiment, the smooth curve is a Bezier curve, and the integration module 2110 is further configured to extend two adjacent trim points along the edge lines of the road surface where the trim points are located, in the direction of a single-node intersection to which the edge lines of the road surface are connected, to obtain two control points, and generate a Bezier curve based on the two adjacent trim points and the two control points.

[0133] Each module in the intersection plane generation device 2100 can be realized, in whole or in part, by software, hardware, or a combination thereof. Each module may be integrated in the processor of a computer device in the form of hardware, or may be independent from the processor in the computer device, and may be stored in the memory of a computer device in the form of software so that the processor can call and execute operations corresponding to each module.

[0134] The above-mentioned intersection surface generation device 2100 obtains the road surface of a composite node intersection that includes at least two single-node intersections based on the intersection information of the composite node intersection, and generates an enclosing surface of the composite node intersection based on the intersection surfaces of each single-node intersection included.Then, the intersection surface of the composite node intersection can be obtained by simply trimming the enclosing surface to the road surface.This allows for simple, efficient, and high-quality generation of enclosing surfaces while relying on a small amount of original data, does not require the introduction of complex calculation policies, can avoid extreme cases, and is highly robust.

[0135] In one embodiment, a computer device is provided, which may be the server 104 shown in FIG. 1 , and its internal structure diagram may be shown in FIG. 22 . The computer device includes a processor, a memory, an input / output interface (I / O), and a communication interface. The processor, memory, and I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device is configured to provide calculation and control functions. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer-readable storage instructions, and a database. The internal memory provides an environment for executing the operating system and the computer-readable storage instructions stored in the non-volatile storage medium. The database of the computer device is configured to store road network data. The I / O interface of the computer device is configured to exchange information between the processor and an external device. The communication interface of the computer device is configured to communicate with an external terminal via a network connection. When executed by the processor, the computer-readable storage instructions realize a method for generating an intersection surface.

[0136] Those skilled in the art will understand that the structure shown in FIG. 22 is merely a block diagram of a portion of the structure related to the solution of the present application, and is not a limitation on the computer device to which the solution of the present application is applied; a specific computer device may include more or fewer components than those shown, may combine specific components, or may have a different component arrangement.

[0137] In one embodiment, a computer device is provided that includes a memory and a processor, wherein the memory stores computer-readable storage instructions, and the processor, when executing the computer-readable storage instructions, implements the steps of the intersection surface generation method provided in any one or more embodiments of the present application.

[0138] In one embodiment, a computer-readable storage medium having stored thereon computer-readable storage instructions that, when executed by a processor, implement the steps of the intersection surface generation method provided in any one or more embodiments of the present application.

[0139] In one embodiment, a computer program product is provided that includes computer-readable storage instructions that, when executed by a processor, implement the steps of the intersection surface generation method provided in any one or more embodiments of the present application.

[0140] In addition, all user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) related to this application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of related data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0141] Those skilled in the art will understand that all or part of the processes in each of the above-described methods can be completed by hardware associated with program-readable storage instructions, which may be stored in a non-volatile computer-readable storage medium and, when executed, may comprise the processes in each of the above-described method embodiments. Any memory, database, or other medium cited in each of the embodiments provided herein may include at least one of non-volatile memory and volatile memory. Non-volatile memory may include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustrative but non-limiting example, the RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database in each embodiment provided by the present application may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database. The processor in each embodiment provided by the present application may be, but is not limited to, a universal processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic processor, a data processing logic processor based on quantum computing, etc.

[0142] The technical features of the above embodiments can be combined in any manner, and for the sake of brevity, not all possible combinations of the technical features in the above embodiments are described, but all combinations of these technical features should be considered to be within the scope of this specification unless there is a contradiction.

[0143] The above examples only represent some embodiments of the present application, and are described in more detail and specific terms, but they should not be construed as limiting the scope of protection of the present application. It should be noted that those skilled in the art can make some modifications and improvements without departing from the spirit of the present application, and these modifications and improvements are included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be governed by the claims. [Explanation of symbols]

[0144] 102 terminals 104 Server 2100 Generator 2102 Decision Module 2104 Road Surface Generation Module 2106 Single-node intersection surface generation module 2108 Enclosing Surface Generation Module 2110 Integration Module

Claims

1. 1. A method for generating an intersection surface, implemented by a computing device, comprising: determining a complex node intersection based on road network data, the complex node intersection including at least two single-node intersections; obtaining a road surface of the composite node intersection based on intersection information of the composite node intersection; determining an intersection plane of each of the single-node intersections within the at least two single-node intersections; generating an enclosing surface of the complex node intersection based on the intersection surface of each of the single node intersections; and integrating the surrounding surface with the road surface to obtain an intersection surface of the complex node intersection.

2. The step of determining the complex node intersections comprises: obtaining road network data for each single-node intersection; If the road network data of each of at least two single-node intersections contains the same complex-node intersection mark, determining that the at least two single-node intersections form the complex-node intersection; The method for generating an intersection surface according to claim 1 .

3. The step of acquiring a road surface of the composite node intersection based on intersection information of the composite node intersection includes: obtaining road network data for each single-node intersection included in the complex-node intersection; determining at least two roads connected to each of the single-node intersections based on the road network data to obtain a plurality of roads included in the complex-node intersection; obtaining corresponding road information for each road, the road information including at least one of a road class, a number of lanes, and a lane width; determining a road width corresponding to each of the roads based on the road information, and widening each of the roads according to the respective road widths to obtain a road surface of the road; and obtaining a road surface of the complex node intersection based on the road surface of each of the roads. The method for generating an intersection surface according to claim 1 .

4. The step of respectively determining an intersection plane of each of the single-node intersections in the at least two single-node intersections comprises: for each single-node intersection, determining at least two roads connected to said single-node intersection; a step of obtaining a constraint condition and an objective function, wherein the objective function indicates a solution target for the area size of the intersection surface of the single-node intersection, the constraint condition indicates a limit condition for the area size, the constraint condition includes a constraint relationship between offset variables of each of two adjacent roads among the at least two roads, the objective function includes at least two of the offset variables, and each of the offset variables indicates a distance situation from the single-node intersection to a tangent of a corresponding road; solving the objective function based on the road surface width of each of the roads within the at least two roads and the constraints to obtain an offset distance for the road; generating an intersection surface for the single-node intersection based on a road surface width of the road and an offset distance of the road; The method for generating an intersection surface according to claim 1 .

5. The step of obtaining the constraint condition includes: determining included angle information between each of the two adjacent roads based on road surface widths of the two adjacent roads and offset variables of the corresponding roads, the included angle information indicating an intersection situation between tangents corresponding to each of the two adjacent roads; and establishing a constraint based on the included angle information between each pair of adjacent roads. The method for generating an intersection surface according to claim 4 .

6. The road surface of each of the roads includes a line of a left side edge of the road surface and a line of a right side edge of the road surface, and the step of constructing a constraint condition based on the included angle information between each two adjacent roads includes: obtaining an angle between a first road and a second road, the first road and the second road being adjacent roads among the at least two roads; obtaining a first included angle between the first road and a line of a right side of the road surface of the first road, a second included angle between the second road and a line of a left side of the road surface of the second road, and a third included angle between the line of the right side of the road surface of the first road and a line of a left side of the road surface of the second road; establishing a constraint 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 method for generating an intersection surface according to claim 5 .

7. generating an enclosing surface of the complex node intersection based on the intersection surface of each of the single node intersections; obtaining a first set of shape points based on shape points included in an intersection plane of each of the single-node intersections; and calculating, based on the first shape point set, a smallest convex polygon that encloses all shape points in the first shape point set to obtain an enclosing surface of the complex node intersection. The method for generating an intersection surface according to claim 1 .

8. The step of integrating the surrounding surface with the road surface to obtain an intersection surface of the complex node intersection includes: determining a road surface edge line of each road included in the road surface of the complex node intersection; determining intersections of the boundary lines of the enclosing surface of the complex node intersection with the edge lines of the road surface to obtain a set of trim points formed by the trim points of the enclosing surface; determining each two adjacent trim points in the set of trim points; performing a smoothing process between each two adjacent trim points on the enclosing surface to obtain an intersection surface of the complex node intersection; The method for generating an intersection surface according to claim 1 .

9. The step of determining each two adjacent trim points in the set of trim points comprises: determining a second set of shape points formed by the shape points of the enclosing surface, the shape points having a front-to-back order; For each trim point in the set of trim points, calculating a left adjacent shape point and a right adjacent shape point of the trim point in the second set of shape points; a step of ordering each trim point in the trim point set according to the front-to-back order of the corresponding target shape point, and determining each of the two adjacent trim points in the trim point set based on the ordering result, wherein the target shape point is a left-neighboring shape point or a right-neighboring shape point; The method for generating an intersection plane according to claim 8 .

10. The step of performing a smoothing process between each two adjacent trim points on the enclosing surface includes: If two adjacent trim points are located on a line of a side of the road surface of the same road of the enclosing surface, connecting the two adjacent trim points with a straight line; and if two adjacent trim points are located on a line of an edge of a road surface of different roads of the enclosing surface, connecting the two adjacent trim points with a smooth curve. The method for generating an intersection plane according to claim 8 .

11. The smooth curve is a Bezier curve, and the step of generating a Bezier curve between the two adjacent trim points includes: Extending the two adjacent trim points along the edge lines of the road surface where the trim points are located in the direction of the single-node intersection to which the edge lines of the road surface are connected, to obtain two control points; generating the Bezier curve based on the two adjacent trim points and the two control points; The method for generating an intersection surface according to claim 10.

12. An intersection surface generation device, a determination module configured to determine a complex node intersection based on road network data, the complex node intersection including at least two single-node intersections; a road surface generation module configured to obtain a road surface of the composite node intersection based on intersection information of the composite node intersection; a single-node intersection surface generation module configured to respectively determine an intersection surface of each of the single-node intersections in the at least two single-node intersections; an enclosing surface generation module configured to generate an enclosing surface of the complex node intersection based on an intersection surface of each of the single node intersections; an integration module configured to integrate the surrounding surface with the road surface to obtain an intersection surface of the complex node intersection.

13. The road surface generation module is further configured to: obtain road network data for each single-node intersection included in the complex node intersection; determine at least two roads connected to each single-node intersection based on the road network data to obtain a plurality of roads included in the complex node intersection; obtain corresponding road information for each road, the corresponding road information including at least one of a road class, a number of lanes, and a lane width; determine a road width corresponding to each road based on the road information; widen each road according to the respective road width to obtain a road surface for the road; and obtain a road surface for the complex node intersection based on the road surfaces of each road. The device for generating an intersection surface according to claim 12.

14. The enclosing surface generation module is further configured to obtain a first shape point set based on shape points included in an intersection surface of each of the single-node intersections, and to calculate, based on the first shape point set, a smallest convex polygon that encloses all shape points in the first shape point set, to obtain an enclosing surface of the complex-node intersection. The device for generating an intersection surface according to claim 12.

15. The integration module is further configured to: determine an edge line of the road surface of each road included in the road surface of the complex node intersection; determine intersection points between the boundary line of an enclosing surface of the complex node intersection and the edge line of the road surface to obtain a trim point set formed by trim points of the enclosing surface; determine two adjacent trim points in the trim point set; and perform a smoothing process between the two adjacent trim points on the enclosing surface to obtain an intersection surface of the complex node intersection. The device for generating an intersection surface according to claim 12.

16. The integration module is further configured to perform the steps of: determining a second shape point set formed by shape points of the enclosing surface, wherein the shape points have a front-to-back order; calculating, for each trim point in the trim point set, a left-neighbor shape point and a right-neighbor shape point of the trim point in the second shape point set; and, for each trim point in the trim point set, ordering according to the front-to-back order of the corresponding target shape point, and determining each two adjacent trim points in the trim point set based on the ordering results, wherein the target shape point is a left-neighbor shape point or a right-neighbor shape point. The device for generating an intersection surface according to claim 15.

17. The integration module is further configured to connect the two adjacent trim points with a straight line when the two adjacent trim points are located on a line of an edge of a road surface of the same road on the enclosing surface, and to connect the two adjacent trim points with a smooth curve when the two adjacent trim points are located on a line of an edge of a road surface of different roads on the enclosing surface. The device for generating an intersection surface according to claim 15.

18. A computing device comprising: a memory having computer-readable stored instructions stored thereon; and a processor which, when executing said computer-readable stored instructions, implements the steps of the method of any one of claims 1 to 11.

19. A computer program product causing a processor to carry out the steps of the method according to any one of claims 1 to 11.

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