CN114742935A

CN114742935A - Method, apparatus, electronic device, and medium for processing map data

Info

Publication number: CN114742935A
Application number: CN202210430156.8A
Authority: CN
Inventors: 崔弘鑫
Original assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Current assignee: Apollo Intelligent Connectivity Beijing Technology Co Ltd
Priority date: 2022-04-22
Filing date: 2022-04-22
Publication date: 2022-07-12

Abstract

The disclosure provides a method for processing map data, and relates to the technical field of automatic driving, in particular to the technical field of high-precision maps. The implementation scheme is as follows: acquiring map data to be processed, wherein the map data at least comprises lane line data, and the lane line data comprises first position information and first attributes, wherein the first position information comprises coordinates of at least two points on a characteristic line for representing the lane line, and the first attributes indicate the type of the lane line; determining a characteristic line of the lane line based on the first position information; and rendering the characteristic line based on the type of the lane line to obtain first data for displaying the lane line in the three-dimensional map model.

Description

Method, device, electronic equipment and medium for processing map data

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to the field of high-precision maps, and in particular, to a method and an apparatus for processing map data, an electronic device, a computer-readable storage medium, and a computer program product.

Background

High-precision maps, also known as high-precision maps, are maps used by autonomous vehicles. The high-precision map has accurate vehicle position information and abundant road element data information, and can help an automobile to predict road surface complex information such as gradient, curvature, course and the like, so that potential risks are avoided better. With the development of automatic driving, higher requirements are provided for the vehicle-mounted feeling of passengers riding an automatic driving automobile, and the high-precision map is not only a basis of route planning, but also can be used as a carrier for showing road information to the passengers, so that the visualization of the high-precision map is particularly important.

The approaches described in this section are not necessarily approaches that have been previously conceived or pursued. Unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section. Similarly, the problems mentioned in this section should not be considered as having been acknowledged in any prior art, unless otherwise indicated.

Disclosure of Invention

The present disclosure provides a method, an apparatus, an electronic device, a computer-readable storage medium, and a computer program product for processing map data.

According to an aspect of the present disclosure, there is provided a method of processing map data, including: acquiring map data to be processed, wherein the map data at least comprises lane line data, and the lane line data comprises first position information and first attributes, the first position information comprises coordinates of at least two points on a characteristic line for representing a lane line, and the first attributes indicate the type of the lane line; determining the characteristic line of the lane line based on the first position information; and rendering the characteristic line based on the type of the lane line to obtain first data for displaying the lane line in a three-dimensional map model.

According to another aspect of the present disclosure, there is provided an apparatus for processing map data, including: the map processing device comprises a first acquisition module, a second acquisition module and a processing module, wherein the first acquisition module is configured to acquire map data to be processed, the map data at least comprises lane line data, the lane line data comprises first position information and first attributes, the first position information comprises coordinates of at least two points on a characteristic line for representing a lane line, and the first attributes indicate the type of the lane line; a first determination module configured to determine the feature line of the lane line based on the first position information; and the processing module is configured to render the characteristic line based on the type of the lane line so as to obtain first data for displaying the lane line in a three-dimensional map model.

According to another aspect of the present disclosure, there is provided an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of processing map data.

According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform a method of processing map data.

According to another aspect of the disclosure, a computer program product is provided, comprising a computer program, wherein the computer program realizes the method of processing map data when being executed by a processor.

According to one or more embodiments of the present disclosure, a method for processing map data is provided, in which data of a lane line stored in the map data in the form of coordinates of points is rendered based on attributes of the lane line, and the rendered data is used for displaying the lane line in a three-dimensional map model, so as to realize visualization of the lane line.

It should be understood that the statements in this section are not intended to identify key or critical features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the embodiments and, together with the description, serve to explain the exemplary implementations of the embodiments. The illustrated embodiments are for purposes of illustration only and do not limit the scope of the claims. Throughout the drawings, identical reference numbers designate similar, but not necessarily identical, elements.

FIG. 1 illustrates a schematic diagram of an exemplary system in which various methods described herein may be implemented, according to an embodiment of the present disclosure;

FIG. 2 shows a flow diagram of a method of processing map data according to an embodiment of the present disclosure;

FIG. 3 shows a flow diagram of a method of processing map data according to an embodiment of the present disclosure;

FIG. 4 shows a flow diagram of a method of processing map data according to an embodiment of the present disclosure;

fig. 5 is a block diagram illustrating a structure of an apparatus for processing map data according to an embodiment of the present disclosure;

fig. 6 is a block diagram illustrating a structure of an apparatus for processing map data according to an embodiment of the present disclosure;

fig. 7 illustrates a block diagram of a structure of an apparatus for processing map data according to an embodiment of the present disclosure; and

FIG. 8 illustrates a block diagram of an exemplary electronic device that can be used to implement embodiments of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

In the present disclosure, unless otherwise specified, the use of the terms "first", "second", and the like to describe various elements is not intended to limit the positional relationship, the temporal relationship, or the importance relationship of the elements, and such terms are used only to distinguish one element from another. In some examples, a first element and a second element may refer to the same instance of the element, and in some cases, based on the context, they may also refer to different instances.

The terminology used in the description of the various described examples in this disclosure is for the purpose of describing particular examples only and is not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the elements may be one or more. Furthermore, the term "and/or" as used in this disclosure is intended to encompass any and all possible combinations of the listed items.

In the related art, a visualization scheme for map data generally includes only a visualization conversion for elements such as roads and buildings, and does not include a map element such as a lane line, resulting in limitation of information obtained by a user from a visualization map.

In order to solve the above problems, the present disclosure provides a method for processing map data, which may be used for visualizing a lane line in the map data, and performs rendering processing on data of the lane line stored in the map data in the form of coordinates of points based on attributes of the lane line, so that the rendered data is used for displaying the lane line in a three-dimensional map model to realize visualization of the lane line.

Embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

Fig. 1 illustrates a schematic diagram of an exemplary system 100 in which various methods and apparatus described herein may be implemented in accordance with embodiments of the present disclosure. Referring to fig. 1, the system 100 includes one or

more client devices

101, 102, 103, 104, 105, and 106, a server 120, and one or more communication networks 110 coupling the one or more client devices to the server 120.

Client devices

101, 102, 103, 104, 105, and 106 may be configured to execute one or more applications.

In embodiments of the present disclosure, the server 120 may run one or more services or software applications that enable the method of processing map data to be performed.

In some embodiments, the server 120 may also provide other services or software applications that may include non-virtual environments and virtual environments. In certain embodiments, these services may be provided as web-based services or cloud services, for example, provided to users of

client devices

101, 102, 103, 104, 105, and/or 106 under a software as a service (SaaS) model.

In the configuration shown in fig. 1, server 120 may include one or more components that implement the functions performed by server 120. These components may include software components, hardware components, or a combination thereof, which may be executed by one or more processors. A user operating a

client device

101, 102, 103, 104, 105, and/or 106 may, in turn, utilize one or more client applications to interact with the server 120 to take advantage of the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from system 100. Accordingly, fig. 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

A user may use

client devices

101, 102, 103, 104, 105, and/or 106 to perform a method of processing map data. The client device may provide an interface that enables a user of the client device to interact with the client device. The client device may also output information to the user via the interface. Although fig. 1 depicts only six client devices, those skilled in the art will appreciate that any number of client devices may be supported by the present disclosure.

Client devices

101, 102, 103, 104, 105, and/or 106 may include various types of computer devices, such as portable handheld devices, general purpose computers (such as personal computers and laptops), workstation computers, wearable devices, smart screen devices, self-service terminal devices, service robots, gaming systems, thin clients, various messaging devices, sensors or other sensing devices, and so forth. These computer devices may run various types and versions of software applications and operating systems, such as MICROSOFT Windows, APPLE iOS, UNIX-like operating systems, Linux, or Linux-like operating systems (e.g., GOOGLE Chrome OS); or include various Mobile operating systems, such as MICROSOFT Windows Mobile OS, iOS, Windows Phone, Android. Portable handheld devices may include cellular telephones, smart phones, tablets, Personal Digital Assistants (PDAs), and the like. Wearable devices may include head-mounted displays (such as smart glasses) and other devices. The gaming system may include a variety of handheld gaming devices, internet-enabled gaming devices, and the like. The client device is capable of executing a variety of different applications, such as various Internet-related applications, communication applications (e.g., email applications), Short Message Service (SMS) applications, and may use a variety of communication protocols.

Network 110 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including but not limited to TCP/IP, SNA, IPX, etc. By way of example only, one or more networks 110 may be a Local Area Network (LAN), an ethernet-based network, a token ring, a Wide Area Network (WAN), the internet, a virtual network, a Virtual Private Network (VPN), an intranet, an extranet, a Public Switched Telephone Network (PSTN), an infrared network, a wireless network (e.g., bluetooth, WIFI), and/or any combination of these and/or other networks.

The server 120 may include one or more general purpose computers, special purpose server computers (e.g., PC (personal computer) servers, UNIX servers, mid-end servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and/or combination. The server 120 may include one or more virtual machines running a virtual operating system, or other computing architecture involving virtualization (e.g., one or more flexible pools of logical storage that may be virtualized to maintain virtual storage for the server). In various embodiments, the server 120 may run one or more services or software applications that provide the functionality described below.

The computing units in server 120 may run one or more operating systems including any of the operating systems described above, as well as any commercially available server operating systems. The server 120 can also run any of a variety of additional server applications and/or mid-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, and the like.

In some implementations, the server 120 may include one or more applications to analyze and consolidate data feeds and/or event updates received from users of the

client devices

101, 102, 103, 104, 105, and 106. Server 120 may also include one or more applications to display data feeds and/or real-time events via one or more display devices of

client devices

101, 102, 103, 104, 105, and 106.

In some embodiments, the server 120 may be a server of a distributed system, or a server incorporating a blockchain. The server 120 may also be a cloud server, or a smart cloud computing server or a smart cloud host with artificial intelligence technology. The cloud Server is a host product in a cloud computing service system, and is used for solving the defects of high management difficulty and weak service expansibility in the conventional physical host and Virtual Private Server (VPS) service.

The system 100 may also include one or more databases 130. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 130 may be used to store information such as audio files and video files. The database 130 may reside in various locations. For example, the database used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The database 130 may be of different types. In certain embodiments, the database used by the server 120 may be, for example, a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to the command.

In some embodiments, one or more of the databases 130 may also be used by applications to store application data. The databases used by the application may be different types of databases, such as key-value stores, object stores, or regular stores supported by a file system.

The system 100 of fig. 1 may be configured and operated in various ways to enable application of the various methods and apparatus described in accordance with the present disclosure.

Fig. 2 illustrates a flowchart of a method of processing map data according to an embodiment of the present disclosure. As shown in fig. 2, a method 200 of processing map data includes: step S201, obtaining map data to be processed, wherein the map data at least comprises lane line data, the lane line data comprises first position information and a first attribute, the first position information comprises coordinates of at least two points on a characteristic line for representing a lane line, and the first attribute indicates the type of the lane line; step S202, determining the characteristic line of the lane line based on the first position information; and step S203, rendering the characteristic line based on the type of the lane line to obtain first data for displaying the lane line in a three-dimensional map model.

In step S201, the acquired map data to be processed is a high-precision vector map. The map data includes data corresponding to a plurality of types of map elements on a certain scale. The lane line may be stored in the form of coordinates of points on a feature line of the lane line, where the feature line may be, for example, a center line of the lane line, and the feature line is further described by an attribute corresponding to the lane line. Compared with two sidelines for storing the lane lines, the storage mode is favorable for saving the storage space and improving the storage efficiency of the map data.

Therefore, when such a high-precision map is converted into a visualized three-dimensional map model, it is necessary to perform rendering processing on lane line data in the map data according to the type of a lane line to reconstruct the stored points into a lane line of a corresponding type, and perform visualization operation on the lane line on the basis of the reconstructed points so as to display the lane line in the three-dimensional map model, so that the three-dimensional map model including the lane line can be presented to a user.

According to some embodiments, step S203 comprises: in response to the type of the lane line being a solid line, determining a width of the lane line and widening based on the feature line to obtain the first data representing the solid line having the width; in response to the fact that the type of the lane line is a single dotted line, determining the width of the lane line and widening based on the characteristic line; determining a break point based on a predetermined distance to obtain the first data representing a single dashed line having the width; responding to the type of the lane line as a double-dotted line, determining the width of the lane line and widening the dotted line based on the characteristic line of each dotted line in the double-dotted line; a cut line perpendicular to the characteristic line is acquired and a break point is determined based on the cut line to obtain the first data representing a double-dashed line having the width.

It can be understood that, when rendering is performed on the lane line data, corresponding rendering needs to be performed according to the type of the lane line, where the feature line of the lane line may be a center line thereof or any side line thereof. When processing the solid line, it is necessary to determine a characteristic line of the solid line based on the first position data corresponding to the solid line, determine a width of the solid line based on the type, and widen the solid line based on the characteristic line to construct a solid line having a certain width. For example, the first attribute in the lane line data may further indicate a road grade or the like corresponding to the lane line, and thus the corresponding lane line width may be further more accurately determined. When the single-dotted line is processed, on the basis of the processing step of the solid line, the position of the break point on the solid line needs to be determined according to a predetermined distance, so that the single-dotted line is obtained by cutting the solid line. When the double-dashed line is processed, since the storage directions of the double-dashed line in the map data may be opposite, and the position of the break point may be determined with reference to the start point, determining the position of the break point only by a predetermined distance may result in that the two dashed lines are not cut in alignment. Therefore, the double-dotted lines are cut by the cutting lines perpendicular to the double-dotted lines, so that the double-dotted lines can be aligned at each broken point, and a better visualization effect is obtained.

According to some embodiments, the lane line data further comprises a second attribute for indicating at least one of a color, a texture, and a roughness of the lane line. As can be appreciated, the second attribute can describe the appearance characteristics of the lane line in detail, thereby being helpful for obtaining a better visualization effect of the lane line in the three-dimensional map model, and improving the user experience.

Fig. 3 illustrates a flowchart of a method of processing map data according to an embodiment of the present disclosure. As shown in fig. 3, on the basis of step S203, the method 200 of processing map data may further include: step S301, converting the first data into triangular grid data corresponding to the lane lines; step S302, based on the second attribute, adding corresponding skin data into the triangular mesh data to obtain second data; and step S303, displaying the lane line in the three-dimensional map model based on the second data. Therefore, on the basis of rendering the lane line data to obtain the first data, visualization of the lane line can be achieved based on conversion of the triangular mesh of the first data and configuration of the corresponding skin.

According to some embodiments, step S301 comprises: determining boundary vertices of the lane line based on the first data; connecting the boundary vertices into polygons in a first order; and triangulating the polygon to obtain the triangulation data.

For example, both end points of the lane line and boundary vertices at the corners may be determined based on the first data, and the boundary vertices of the lane line may be connected as polygons in a clockwise order or a counterclockwise order to determine an overall shape of the lane line based on a trend of the lane line. And triangulating the polygon to obtain triangular mesh data for modeling the lane lines.

In step S302, the triangular mesh data of the lane lines may be correspondingly skin-configured based on the second attribute indicating at least one of the color, the material, and the roughness of the lane lines. Illustratively, for different attributes, corresponding skin profiles are stored. Accordingly, the corresponding skin profile may be added to the corresponding triangular mesh data based on the second attribute in step S302, thereby achieving the configuration of the skin. In one example, if the first attribute of the lane line indicates that the lane line is a solid line and the second attribute indicates that the lane line is a yellow line, a color effect of yellow may be introduced by the configuration of the skin of step S302 and the solid yellow line may be displayed in the three-dimensional map model.

Therefore, on the basis of rendering the lane line data to obtain the first data, visualization of the lane line can be achieved based on conversion of the triangular meshes of the first data and configuration of corresponding skins, and detailed characteristics of the lane line in the aspects of material, texture, roughness and the like are enriched through skin configurations corresponding to different attributes, so that a better visualization effect is obtained.

In an example, the method provided by the present disclosure may be used for visualization of parking spaces and zebra crossings, and building a three-dimensional model of parking spaces is similar to the foregoing process, and is not described herein again. For the construction of the three-dimensional model of the zebra stripes, the minimum circumscribed rectangle corresponding to the zebra stripe area can be constructed according to the storage form of the zebra stripes in the high-precision map data, so that the cutting lines for cutting the zebra stripe area are determined based on the minimum circumscribed rectangle to obtain a plurality of zebra stripes which are separated from each other.

According to some embodiments, the map data further comprises road data comprising second location information comprising coordinates of at least two points on two edges of the road and a third attribute indicating at least one of material, color and grade of the road. For example, the grade of the road may be a grade divided according to an administrative grade, such as a national road, a provincial road, a county road, and the like, or a grade divided according to other factors such as a speed, and the disclosure is not limited thereto.

Fig. 4 illustrates a flowchart of a method of processing map data according to an embodiment of the present disclosure. As shown in fig. 4, the method 200 of processing map data further includes: step S401, determining triangular grid data corresponding to the road based on the second position information; step S402, based on the third attribute, adding corresponding skin data into the triangular grid data corresponding to the road to obtain third data; and a step S403 of displaying the road in the three-dimensional map model based on the third data.

The method of processing map data provided by the present disclosure may also be used for visualization of map elements of roads, and the flow of conversion is similar to that of lane lines. In a high-precision map, roads may be stored in the form of coordinates of points on both edges of a road, so that the shape and orientation of the road may be determined based on this position information, and thus transformation of a triangular mesh is performed for modeling of a three-dimensional map model. Similar to the lane line, the road data includes a third attribute indicating at least one of a material, a color, and a grade of the road, and the third attribute is used for configuring a corresponding skin to improve a visualization effect of the three-dimensional map model. Thus, roads with good visualization effects can be displayed in the three-dimensional map model.

It will be appreciated that the method of processing map data provided by the present disclosure may also be used for the visualization of other categories of map elements based on high precision map data. The conversion process is similar to the above-mentioned lane line and road conversion method, and is not described herein again.

According to some embodiments, the method of processing map data further comprises: acquiring data corresponding to each object belonging to a target category map element from the map data as fourth data, wherein the target category map element is any one of a lane line and a road; determining triangular mesh data corresponding to each object based on the fourth data, wherein the triangular mesh data corresponding to each object comprises fifth data containing vertex information of a triangular mesh corresponding to the object and sixth data containing index values arranged according to a first order; merging the fifth data corresponding to each object to obtain seventh data; merging the sixth data corresponding to each object to obtain eighth data; determining a triangular grid data set corresponding to the map element of the target category based on the seventh data and the eighth data; and displaying map elements of the target category in the three-dimensional map model based on the set of triangulated mesh data.

For example, in the high-precision map data, data is stored classified based on the category of the map element. The specific classification may be, for example, a road, a lane line, a traffic intersection, and the like. The full amount of high-precision map data can be screened, so that map elements of a certain category are screened out to serve as map elements of a target category for three-dimensional modeling.

In one example, when a target category map element such as a road is screened from the full amount of high-precision map data, all road data in the full amount of high-precision map data may be screened, virtual data, repeated data and the like in the full amount of high-precision map data are excluded, only real unique road data is subjected to three-dimensional modeling, and therefore a full set of roads is visualized in real time.

The triangular mesh data generally includes two parts, the first part, i.e., the fifth data, including vertex information of each triangular mesh, and the second part, i.e., the sixth data, including index values arranged in an order depending on a connection order of connecting vertices into polygons when the triangular mesh data is converted. Accordingly, the connection relationship between the triangular meshes corresponding to the object (for example, the road) may be determined from the fifth data and the sixth data, and the road may be modeled based on the fifth data and the sixth data.

For example, in three-dimensional modeling of all roads included in the high-precision map data, the fifth data and the sixth data in the triangular mesh data corresponding to each road may be respectively merged to obtain the seventh data and the eighth data, and all roads included in the high-precision map data may be modeled based on the seventh data and the eighth data. The method is equivalent to the compression of the triangular mesh data, can effectively reduce the modeling times and improve the modeling efficiency.

According to another aspect of the present disclosure, there is provided an apparatus for processing map data. As shown in fig. 5, the apparatus 500 for processing map data includes: a first obtaining module 501 configured to obtain map data to be processed, where the map data at least includes lane line data, and the lane line data includes first position information and a first attribute, where the first position information includes coordinates of at least two points on a feature line used for representing a lane line, and the first attribute indicates a type of the lane line; a first determination module 502 configured to determine the characteristic line of the lane line based on the first position information; and a processing module 503 configured to render the feature line based on the type of the lane line to obtain first data for displaying the lane line in a three-dimensional map model.

The map data to be processed acquired by the first acquisition module 501 is a high-precision vector map. The map data includes data corresponding to a plurality of types of map elements on a certain scale. The lane line may be stored in the form of coordinates of points on a feature line of the lane line, where the feature line may be, for example, a center line of the lane line, and the feature line is further described by an attribute corresponding to the lane line. Compared with the two sidelines for storing the lane line, the storage mode is favorable for saving the storage space and improving the storage efficiency of the map data.

Therefore, when the apparatus 500 for processing map data converts such a high-precision map into a visualized three-dimensional map model, it is necessary to render the lane line data in the map data according to the type of the lane line, reconstruct the stored points into the corresponding type of lane line, and perform a visualization operation on the lane line based on the type of the lane line, so that the lane line is displayed in the three-dimensional map model, thereby being able to present the three-dimensional map model including the lane line to the user.

The operations of the modules 501-503 of the apparatus 500 for processing map data are similar to the operations of the steps S201-S203 described above, and are not repeated herein.

According to some embodiments, the processing module 503 comprises: a first determination unit configured to determine a width of the lane line and widen based on the feature line in response to the type of the lane line being a solid line, to obtain the first data representing a solid line having the width; a second determination unit configured to determine a width of the lane line and widen based on the feature line in response to the type of the lane line being a single dotted line; determining a breakpoint based on a predetermined distance to obtain the first data representing a single dashed line having the width; and a third determining unit, configured to determine the width of the lane line and widen each dashed line based on the characteristic line of the dashed line in response to the type of the lane line being a double dashed line; a cut line perpendicular to the characteristic line is acquired and a break point is determined based on the cut line to obtain the first data representing a double-dashed line having the width.

It can be understood that, when performing rendering processing on the lane line data, each unit in the processing module 503 needs to perform corresponding rendering processing according to the type of the lane line, where the feature line of the lane line may be a center line thereof or any side line thereof. When processing a solid line, the first determining unit needs to determine a characteristic line of the solid line based on first position data corresponding to the solid line, determine a width of the solid line based on the type, and widen based on the characteristic line to construct a solid line having a certain width. For example, the first attribute in the lane line data may further indicate a road grade or the like corresponding to the lane line, and thus the corresponding lane line width may be further more accurately determined. When the single-dashed line is processed, on the basis of the processing step of the solid line, the second determining unit needs to determine the position of the break point on the solid line according to a predetermined distance, so that the single-dashed line is obtained by cutting the solid line. When the double-dashed line is processed by the third determination unit, since the storage direction of the double-dashed line in the map data may be opposite and the position of the break point may be determined with reference to the start point, determining the position of the break point only by a predetermined distance may result in that the two broken lines are not cut in alignment. Therefore, the third determining unit cuts the double-dotted lines by using the cutting lines perpendicular to the double-dotted lines, so that the double-dotted lines can be aligned at each broken point, and a better visualization effect is obtained.

According to some embodiments, the lane line data further comprises a second attribute for indicating at least one of a color, a texture, and a roughness of the lane line. It can be understood that the second attribute can describe the appearance characteristics of the lane line in detail, so that the lane line with a better visualization effect can be obtained in the three-dimensional map model, and the user experience is improved.

Fig. 6 illustrates a block diagram of a structure of an apparatus for processing map data according to an embodiment of the present disclosure. As shown in fig. 6, the apparatus 600 for processing map data includes: a first obtaining module 601 configured to obtain map data to be processed, where the map data at least includes lane line data, and the lane line data includes first position information and a first attribute, where the first position information includes coordinates of at least two points on a feature line used for representing a lane line, and the first attribute indicates a type of the lane line; a first determination module 602 configured to determine the characteristic line of the lane line based on the first position information; a processing module 603 configured to render the feature line based on the type of the lane line to obtain first data for displaying the lane line in a three-dimensional map model; a first conversion module 604 configured to convert the first data into triangular mesh data corresponding to the lane lines; a first skin configuration module 605 configured to add corresponding skin data to the triangular mesh data to obtain second data based on the second attribute; and a first display module 606 configured to display the lane line in the three-dimensional map model based on the second data. Therefore, on the basis of rendering the lane line data to obtain the first data, visualization of the lane line can be achieved based on conversion of the triangular mesh of the first data and configuration of the corresponding skin.

According to some embodiments, the first conversion module 604 comprises: a fourth determination unit configured to determine a boundary vertex of the lane line based on the first data; a connecting unit configured to connect the boundary vertices into polygons in a first order; and an acquisition unit configured to triangulate the polygon to acquire the triangulated data.

For example, the fourth determination unit may determine both end points of the lane line and boundary vertices at the corners based on the first data, and connect the boundary vertices of the lane line as polygons in a clockwise order or a counterclockwise order by the connection unit to determine the overall shape of the lane line based on the trend of the lane line. The polygon is triangulated by an acquisition unit to obtain triangulated data for modeling the lane lines.

The first skin configuration module 605 may perform a corresponding skin configuration on the triangular mesh data of the lane lines based on a second attribute indicating at least one of color, texture, and roughness of the lane lines. Illustratively, for different attributes, corresponding skin profiles are stored. Thus, the first skin configuration module 605 may add the corresponding skin configuration file to the corresponding triangular mesh data based on the second attribute, thereby enabling the configuration of the skin. In one example, where the first attribute of the lane line indicates that the lane line is a solid line and the second attribute indicates that the lane line is a yellow line, the first skin configuration module 605 may introduce a color effect of yellow through the configuration of the skin and display the solid yellow line in the three-dimensional map model.

Therefore, on the basis that the processing module 603 performs rendering processing on the lane line data to obtain the first data, the device 600 for processing map data can realize visualization of the lane line based on the conversion of the triangular mesh of the first data and the configuration of the corresponding skin, and enrich the detailed characteristics of the lane line in the aspects of material, texture, roughness and the like through the skin configurations corresponding to different attributes, thereby obtaining a better visualization effect.

In an example, the apparatus 600 for processing map data may be used to perform visualization operations on parking spaces and zebra crossings, and a process of constructing a three-dimensional model of parking spaces by the apparatus 600 for processing map data is similar to the foregoing process, which is not described herein again. For the construction of the three-dimensional model of the zebra crossing, the apparatus 600 for processing map data may construct the minimum circumscribed rectangle corresponding to the zebra crossing region according to the storage form of the zebra crossing in the high-precision map data, thereby determining the cutting line for cutting the zebra crossing region based on the minimum circumscribed rectangle to obtain a plurality of zebra crossings spaced apart from each other.

Fig. 7 illustrates a block diagram of a structure of an apparatus for processing map data according to an embodiment of the present disclosure. As shown in fig. 7, an apparatus 700 for processing map data includes: a first obtaining module 701, configured to obtain map data to be processed, where the map data at least includes lane line data, and the lane line data includes first position information and a first attribute, where the first position information includes coordinates of at least two points on a feature line used for characterizing a lane line, and the first attribute indicates a type of the lane line; a first determination module 702 configured to determine the characteristic line of the lane line based on the first position information; a processing module 703 configured to render the feature line based on the type of the lane line to obtain first data for displaying the lane line in a three-dimensional map model; a second determining module 704 configured to determine triangular mesh data corresponding to the road based on the second position information; a second skin configuration module 705, configured to add corresponding skin data to the triangular mesh data corresponding to the road to obtain third data based on the third attribute; and a second display module 706 configured to display the road in the three-dimensional map model based on the third data.

The device 700 for processing map data can also be used for the visualization of map elements such as roads, and the flow of the conversion is similar to that of a lane line. In a high-precision map, roads may be stored in the form of coordinates of points on both edges of a road, so that the shape and orientation of the road may be determined based on this position information, and thus transformation of a triangular mesh is performed for modeling of a three-dimensional map model. Similar to the lane line, the road data includes a third attribute indicating at least one of a material, a color, and a grade of the road, and the third attribute is used for configuring a corresponding skin to improve a visualization effect of the three-dimensional map model. Therefore, roads with good visualization effect can be displayed in the three-dimensional map model.

It is to be understood that the apparatus 700 for processing map data may also be used for visualization of other categories of map elements based on high-precision map data. The operation flow of the apparatus 700 for processing map data is similar to the aforementioned conversion flow for lane lines and roads, and is not described herein again.

According to some embodiments, the apparatus for processing map data further comprises: a second obtaining module configured to obtain, from the map data, data corresponding to each object belonging to a target category map element as fourth data, the target category map element being any one of a lane line and a road; a third determining module configured to determine triangular mesh data corresponding to each object based on the fourth data, wherein the triangular mesh data corresponding to each object includes fifth data including vertex information of a triangular mesh corresponding to the object and sixth data including index values arranged in the first order; the first merging module is configured to merge fifth data corresponding to each object to obtain seventh data; the second merging module is configured to merge sixth data corresponding to each object to obtain eighth data; a fourth determination module configured to determine, based on the seventh data and the eighth data, a set of triangular mesh data corresponding to a map element of the target category; and a third display module configured to display map elements of the target category in the three-dimensional map model based on the set of triangulated data.

For example, in the high-precision map data, data is stored classified based on the category of the map element. The specific classification may be, for example, a road, a lane line, a traffic intersection, and the like. The second acquisition module can screen the full amount of high-precision map data to screen out certain types of map elements as target type map elements for three-dimensional modeling.

In one example, when the second obtaining module is used for screening target category map elements such as roads from the total amount of high-precision map data, all road data in the total amount of high-precision map data may be screened, virtual data, repeated data and the like in the road data are excluded, only real unique road data is subjected to three-dimensional modeling, and therefore a full set of roads is visualized in real time.

The triangular mesh data generally includes two parts, the first part, i.e., the fifth data, including vertex information of each triangular mesh, and the second part, i.e., the sixth data, including index values arranged in an order depending on a connection order of connecting vertices into polygons when the triangular mesh data is converted. Thus, the connection relationship between the triangular meshes corresponding to the object (for example, the road) can be determined from the fifth data and the sixth data, and the road can be modeled based on the fifth data and the sixth data.

For example, when three-dimensionally modeling all the roads included in the high-precision map data, the first merging module and the second merging module may respectively merge the fifth data and the sixth data in the triangular mesh data corresponding to each road to obtain seventh data and the eighth data, and the third display module may model all the roads included in the high-precision map data based on the seventh data and the eighth data. The compression of the triangular grid data is realized, the modeling times can be effectively reduced, and the modeling efficiency is improved.

As shown in fig. 8, the electronic device 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)802 or a computer program loaded from a storage unit 808 into a Random Access Memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the electronic apparatus 800 can also be stored. The calculation unit 801, the ROM 802, and the RAM 803 are connected to each other by a bus 804. An input/output (I/O) interface 805 is also connected to bus 804.

A number of components in the electronic device 800 are connected to the I/O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 may be any type of device capable of inputting information to the electronic device 800, and the input unit 806 may receive input numeric or character information and generate key signal inputs related to user settings and/or function controls of the electronic device, and may include, but is not limited to, a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and/or a remote control. Output unit 807 can be any type of device capable of presenting information and can include, but is not limited to, a display, speakers, a video/audio output terminal, a vibrator, and/or a printer. The storage unit 808 may include, but is not limited to, a magnetic disk, an optical disk. The communication unit 809 allows the electronic device 800 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunications networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and/or a chipset, e.g., bluetooth^TMDevices, 802.11 devices, WiFi devices, WiMax devices, cellular communication devices, and/or the like.

Computing unit 801 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and the like. The calculation unit 801 executes the respective methods and processes described above, such as the method of processing map data. For example, in some embodiments, the method of processing map data may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 808. In some embodiments, part or all of the computer program can be loaded and/or installed onto the electronic device 800 via the ROM 802 and/or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the method of processing map data described above may be performed. Alternatively, in other embodiments, the computing unit 801 may be configured to perform the method of processing map data in any other suitable manner (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be performed in parallel, sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.

Although embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it is to be understood that the above-described methods, systems and apparatus are merely exemplary embodiments or examples and that the scope of the present invention is not limited by these embodiments or examples, but only by the claims as issued and their equivalents. Various elements in the embodiments or examples may be omitted or may be replaced with equivalents thereof. Further, the steps may be performed in an order different from that described in the present disclosure. Further, the various elements in the embodiments or examples may be combined in various ways. It is important that as technology evolves, many of the elements described herein may be replaced by equivalent elements that appear after the present disclosure.

Claims

1. A method of processing map data, comprising:

acquiring map data to be processed, wherein the map data at least comprises lane line data, and the lane line data comprises first position information and first attributes, the first position information comprises coordinates of at least two points on a characteristic line for representing a lane line, and the first attributes indicate the type of the lane line;

determining the characteristic line of the lane line based on the first position information; and

rendering the feature line based on the type of the lane line to obtain first data for displaying the lane line in a three-dimensional map model.

2. The method of claim 1, wherein the lane line data further includes a second attribute indicating at least one of a color, a texture, and a roughness of the lane line, and the method further comprises:

converting the first data into triangular grid data corresponding to the lane lines;

adding corresponding skin data into the triangular grid data based on the second attribute to obtain second data; and

displaying the lane line in the three-dimensional map model based on the second data.

3. The method of claim 2 or 3, wherein the rendering the feature line based on the type of the lane line comprises:

in response to the type of the lane line being a solid line, determining a width of the lane line and widening based on the feature line to obtain the first data representing the solid line having the width;

in response to the type of lane line being a single dashed line,

determining the width of the lane line and widening based on the characteristic line;

determining a break point based on a predetermined distance to obtain the first data representing a single dashed line having the width; and

in response to the type of lane line being a double dashed line,

determining the width of the lane line and widening each broken line based on the characteristic line of each broken line in the double broken lines;

a cut line perpendicular to the characteristic line is acquired and a break point is determined based on the cut line to obtain the first data representing a double-dashed line having the width.

4. The method of claim 2 or 3, wherein the converting the first data into triangular mesh data corresponding to the lane lines comprises:

determining boundary vertices of the lane line based on the first data;

connecting the boundary vertices into polygons in a first order; and

and triangulating the polygon to obtain the triangulation data.

5. The method of any of claims 1-4, wherein the map data further comprises road data, the road data comprising second location information and third attributes, wherein the second location information comprises coordinates of at least two points on two edges of the road, the third attributes indicating at least one of a material, a color, and a grade of the road, and the method further comprises:

determining triangular grid data corresponding to the road based on the second position information;

adding corresponding skin data into the triangular grid data corresponding to the road to obtain third data based on the third attribute; and

displaying the road in the three-dimensional map model based on the third data.

6. The method of claim 5, further comprising:

acquiring data corresponding to each object belonging to a target category map element from the map data as fourth data, wherein the target category map element is any one of a lane line and a road;

determining triangular mesh data corresponding to each object based on the fourth data, wherein the triangular mesh data corresponding to each object comprises fifth data containing vertex information of a triangular mesh corresponding to the object and sixth data containing index values arranged according to a first order;

merging the fifth data corresponding to each object to obtain seventh data;

merging the sixth data corresponding to each object to obtain eighth data;

determining a triangular grid data set corresponding to the map element of the target category based on the seventh data and the eighth data; and

displaying map elements of the target category in the three-dimensional map model based on the set of triangulated mesh data.

7. An apparatus for processing map data, comprising:

the map processing device comprises a first acquisition module, a second acquisition module and a processing module, wherein the first acquisition module is configured to acquire map data to be processed, the map data at least comprises lane line data, the lane line data comprises first position information and first attributes, the first position information comprises coordinates of at least two points on a characteristic line for representing a lane line, and the first attributes indicate the type of the lane line;

a first determination module configured to determine the characteristic line of the lane line based on the first position information; and

a processing module configured to render the feature line based on the type of the lane line to obtain first data for displaying the lane line in a three-dimensional map model.

8. The apparatus of claim 7, wherein the lane line data further comprises a second attribute indicating at least one of a color, a texture, and a roughness of the lane line, and the apparatus further comprises:

a first conversion module configured to convert the first data into triangular mesh data corresponding to the lane line;

a first skin configuration module configured to add corresponding skin data to the triangular mesh data based on the second attribute to obtain second data; and

a first display module configured to display the lane line in the three-dimensional map model based on the second data.

9. The apparatus of claim 7 or 8, wherein the processing module comprises:

a first determination unit configured to determine a width of the lane line and widen based on the feature line in response to the type of the lane line being a solid line, to obtain the first data representing the solid line having the width;

a second determination unit configured to determine a width of the lane line and widen based on the feature line in response to the type of the lane line being a single dotted line; determining a breakpoint based on a predetermined distance to obtain the first data representing a single dashed line having the width; and

a third determining unit, configured to determine a width of the lane line and widen each dashed line based on a characteristic line of the dashed line in response to the type of the lane line being a double dashed line; a cut line perpendicular to the characteristic line is acquired and a break point is determined based on the cut line to obtain the first data representing a double-dashed line having the width.

10. The apparatus of claim 7 or 8, wherein the first conversion module comprises:

a fourth determination unit configured to determine a boundary vertex of the lane line based on the first data;

a connecting unit configured to connect the boundary vertices into polygons in a first order; and

an acquisition unit configured to triangulate the polygon to acquire the triangulated data.

11. The apparatus according to any one of claims 7-10, wherein the map data further includes road data including second position information including coordinates of at least two points each on two side lines of the road, and a third attribute indicating at least one of a material, a color, and a grade of the road, and the apparatus further includes:

a second determining module configured to determine triangular mesh data corresponding to the road based on the second location information;

the second skin configuration module is configured to add corresponding skin data into the triangular mesh data corresponding to the road to obtain third data based on the third attribute; and

a second display module configured to display the road in the three-dimensional map model based on the third data.

12. The apparatus of claim 11, further comprising:

a second obtaining module configured to obtain, from the map data, data corresponding to each object belonging to a target category map element as fourth data, the target category map element being any one of a lane line and a road;

a third determining module configured to determine triangular mesh data corresponding to each object based on the fourth data, wherein the triangular mesh data corresponding to each object includes fifth data including vertex information of a triangular mesh corresponding to the object and sixth data including index values arranged in the first order;

the first merging module is configured to merge fifth data corresponding to each object to obtain seventh data;

the second merging module is configured to merge sixth data corresponding to each object to obtain eighth data;

a fourth determining module configured to determine a set of triangulated data corresponding to map elements of the target category based on the seventh data and the eighth data; and

a third display module configured to display map elements of the target category in the three-dimensional map model based on the set of triangulated data.

13. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein

The memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.

15. A computer program product comprising a computer program, wherein the computer program realizes the method of any one of claims 1-6 when executed by a processor.