CN116721229A

CN116721229A - Method, device, equipment and storage medium for generating road isolation belt in map

Info

Publication number: CN116721229A
Application number: CN202311001392.9A
Authority: CN
Inventors: 肖童星
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2023-08-10
Filing date: 2023-08-10
Publication date: 2023-09-08
Anticipated expiration: 2043-08-10
Also published as: CN116721229B

Abstract

The embodiment of the application discloses a method, a device, equipment and a storage medium for generating a road isolation belt in a map, and belongs to the technical field of maps. The method comprises the following steps: acquiring edge data in original map data, wherein the edge data comprises road edge data and intersection surface edge data; traversing each side line data in sequence, and pairing the side line data to obtain a side line data pair, wherein the side line data pair comprises first side line data and second side line data, and a first side line represented by the first side line data and a second side line represented by the second side line data are in a space adjacent and antiparallel relation; determining a projected overlap region between the first edge and the second edge based on the pair of edge data; generating a road isolation belt in the projection overlapping area; by adopting the scheme provided by the embodiment of the application, the generation efficiency of the road isolation belt in the map can be improved.

Description

Method, device, equipment and storage medium for generating road isolation belt in map

Technical Field

The embodiment of the application relates to the technical field of maps, in particular to a method, a device, equipment and a storage medium for generating a road isolation belt in a map.

Background

The isolation belt is an important component of the road. In the map navigation process, road rendering and navigation guiding effects can be improved through rendering of the isolation belt, and user experience is further improved.

In the related art, only specific road pairs needing to generate the isolation belt can be identified in an offline data compiling stage, the specific isolation belt generating process is realized in a real-time rendering mode in the map navigation displaying process, and the real-time rendering generation of the isolation belt needs a large calculation amount, so that the isolation belt generating efficiency is low and the cost is high.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a storage medium for generating a road isolation belt in a map, which can improve the generation efficiency of the road isolation belt in the map. The technical scheme is as follows.

In one aspect, an embodiment of the present application provides a method for generating a road isolation belt in a map, where the method includes:

acquiring boundary data in original map data, wherein the boundary data comprises road boundary data and intersection surface boundary data, the road boundary data is used for representing a road boundary of an upper line and lower line separated road in a target direction, and the intersection surface boundary data is used for representing an intersection surface boundary connected with the upper line and lower line separated road;

Traversing each sideline data in sequence, and pairing the sideline data to obtain a sideline data pair, wherein the sideline data pair comprises at least one of a road sideline data pair, an intersection surface sideline data pair and a road and intersection surface sideline data pair, the sideline data pair comprises first sideline data and second sideline data, and a first sideline represented by the first sideline data and a second sideline represented by the second sideline data are in a space adjacent and antiparallel relationship;

determining a projected overlap region between the first edge and the second edge based on the pair of edge data;

and generating a road isolation belt in the projection overlapping area.

On the other hand, the embodiment of the application provides a generation device of a road isolation belt in a map, which comprises the following steps:

the acquisition module is used for acquiring boundary data in the original map data, wherein the boundary data comprises road boundary data and intersection surface boundary data, the road boundary data is used for representing the road boundary of the upper line and lower line separated road in the target direction, and the intersection surface boundary data is used for representing the intersection surface boundary connected with the upper line and lower line separated road;

The pairing module is used for traversing each side line data in sequence, and obtaining a side line data pair by pairing the side line data, wherein the side line data pair comprises at least one of a road side line data pair, an intersection surface side line data pair and a road and intersection surface side line data pair, the side line data pair comprises first side line data and second side line data, and a first side line represented by the first side line data and a second side line represented by the second side line data are in a space adjacent and antiparallel relation;

a region determining module, configured to determine a projection overlapping region between the first edge and the second edge based on the edge data pair;

and the isolation belt generation module is used for generating a road isolation belt in the projection overlapping area.

In another aspect, an embodiment of the present application provides a computer device including a processor and a memory; the memory stores at least one instruction for execution by the processor to implement the method of generating road isolation zones in a map as described in the above aspects.

In another aspect, embodiments of the present application provide a computer readable storage medium having at least one instruction stored therein, the at least one instruction loaded and executed by a processor to implement a method for generating a road barrier in a map as described in the above aspect.

In another aspect, embodiments of the present application provide a computer program product comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device performs the method of generating road isolation strips in a map provided in various alternative implementations of the above aspect.

According to the embodiment of the application, the edge data is obtained from the original map data, the edge data comprises road edge data and intersection surface edge data, a plurality of groups of edge data pairs can be obtained by traversing and pairing the edge data, each group of edge data pairs comprises first edge data and second edge data, the first edge represented by the first edge data and the second edge represented by the second edge data are in a spatially adjacent and antiparallel relation, and a projection overlapping area between the first edge and the second edge can be determined according to the edge data pairs, and a road isolation belt is generated in the projection overlapping area; by adopting the scheme provided by the embodiment of the application, the edge data pair is directly determined from the original map data, and the road isolation belt is generated according to the edge data pair, so that the generation efficiency of the road isolation belt in the map is improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 illustrates a schematic diagram of an implementation environment provided by an exemplary embodiment of the present application;

fig. 2 is a flowchart illustrating a method for generating a road barrier in a map according to an exemplary embodiment of the present application;

FIG. 3 illustrates a schematic view of a road and intersection provided by an exemplary embodiment of the present application;

FIG. 4 illustrates a schematic diagram of a generated roadway barrier provided in accordance with an exemplary embodiment of the present application;

fig. 5 is a flowchart illustrating a method for generating a road barrier in a map according to another exemplary embodiment of the present application;

FIG. 6 illustrates a schematic diagram of a subset of deterministic shaped points provided by an exemplary embodiment of the present application;

FIG. 7 illustrates a road barrier effect graph provided by an exemplary embodiment of the present application;

Fig. 8 is a flowchart showing a method of generating a road barrier in a map according to still another exemplary embodiment of the present application;

FIG. 9 illustrates a schematic view of an edge projection provided by an exemplary embodiment of the present application;

fig. 10 is a general flowchart showing a method of generating a road barrier according to an exemplary embodiment of the present application;

FIG. 11 illustrates a flow chart for performing edge data pairing provided by an exemplary embodiment of the application;

FIG. 12 is a flow chart illustrating determining an antiparallel relationship, as provided by an exemplary embodiment of the present application;

FIG. 13 illustrates a flowchart for determining projection results provided by an exemplary embodiment of the present application;

FIG. 14 illustrates a flowchart for determining projection overlap regions provided by an exemplary embodiment of the present application;

fig. 15 is a block diagram showing a construction of a generation apparatus of a road barrier in a map according to an exemplary embodiment of the present application;

fig. 16 is a schematic diagram showing the structure of a computer device according to an exemplary embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

The method for generating the road isolation belt in the map, provided by the embodiment of the application, can be applied to various virtual map products such as high-precision virtual maps, common-precision maps, urban road models and the like, and can be used for visually presenting road areas comprising a plurality of intersections. The method for generating the road isolation belt in the map can be understood as a compiling process of the original data of the map, namely, the original map data is processed and treated as a link which is under the control of the map navigation, positioning technology, map rendering and the like, more compact and easier-to-use files or data are generated, and the compiled data can be provided for an upper layer (such as map navigation, positioning technology, map rendering and the like) to be invoked. The generated road isolation belt data can provide the base map data of the road isolation belt for the navigation engine, enhance the visual effect of the navigation interface, provide data support for the automatic driving under the condition of road decision or the object when using the electronic map to make driving decision, such as a driver, and prevent the vehicle from driving beyond the range of the road surface, thereby reducing the probability of accident occurrence in the road and improving the safety of the automatic driving.

The application provides a generation method of a road isolation belt in a map, which at least relates to the following technologies of intelligent traffic systems, cloud computing, computer vision technology and the like. For example, the projected overlapping area between edges may be determined by edge data in an electronic map, and a road isolation strip may be generated. In some examples, intelligent transportation systems may also be utilized to provide intelligent navigation route services for driving objects such as drivers based on location information, profiles, etc. of road isolation zones. Or, the terminal equipment can also utilize computer vision technology and the like to display the high-precision three-dimensional image corresponding to the road isolation belt more truly and clearly in the navigation application page or the map page.

The intelligent transportation system (Intelligent Traffic System, ITS), also called intelligent transportation system (Intelligent Transportation System), is a comprehensive transportation system which uses advanced scientific technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation study, artificial intelligence, etc.) effectively and comprehensively for transportation, service control and vehicle manufacturing, and enhances the connection among vehicles, roads and users, thereby forming a comprehensive transportation system for guaranteeing safety, improving efficiency, improving environment and saving energy.

With research and progress of artificial intelligence technology, research and application of artificial intelligence technology are being developed in various fields, such as common smart home, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned, automatic driving, unmanned aerial vehicle, robot, smart medical treatment, smart customer service, car networking, smart transportation, etc., and it is believed that with the development of technology, artificial intelligence technology will be applied in more fields and become more and more important value. The technologies of intelligent traffic, internet of vehicles, automatic driving, unmanned driving and the like generally comprise technologies of high-precision maps, environment perception, behavior decision, path planning, motion control and the like, and have wide application prospects at present.

Computer Vision (CV) is a science of how to make a machine "look at", and more specifically, to replace human eyes with a camera and a Computer to perform machine vision such as recognition, trace tracing and measurement on a target, and further perform graphic processing, so that the Computer processes the target into an image more suitable for human eyes to observe or transmit to an instrument to detect. As a scientific discipline, computer vision research-related theory and technology has attempted to build artificial intelligence systems that can acquire information from images or multidimensional data. Computer vision techniques typically include image processing, image recognition, image semantic understanding, image retrieval, optical character recognition (Optical Character Recognition, OCR), video processing, video semantic understanding, video content/behavior recognition, three-dimensional object reconstruction, 3D technology, virtual reality, augmented reality, synchronous positioning and mapping, autopilot, intelligent transportation, etc., as well as common biometric recognition techniques such as face recognition, fingerprint recognition, etc.

At present, high-precision map data is mainly used for lane-level navigation, however, because the coverage area of a high-precision map is limited, for example, some cities have high-precision map data outside five rings, and the five rings do not have the high-precision map data. In order to obtain an effect similar to a high-precision map where there is no high-precision map data, some road elements need to be generated from a standard-precision map (i.e., a normal navigation map) with an algorithm, and road median data is required to be generated from original road network data as one of the road elements.

It should be noted that, before collecting the user positioning data and during collecting the relevant data of the user, the present application may display a prompt interface, a popup window or output voice prompt information, where the prompt interface, popup window or voice prompt information is used to prompt the user to collect the relevant data currently, so that the present application only starts to execute the relevant step of obtaining the relevant data of the user after obtaining the confirmation operation of the user to the prompt interface or popup window, otherwise (i.e. when the confirmation operation of the user to the prompt interface or popup window is not obtained), ends the relevant step of obtaining the relevant data of the user, i.e. does not obtain the relevant data of the user. In other words, the information (including but not limited to user equipment information, user personal information, etc., user corresponding operation data), data (including but not limited to data for analysis, stored data, presented data, etc.), and signals related to the present application are all authorized by the user or sufficiently authorized by the parties, and the collection, use, and processing of the related data is required to comply with the relevant laws and regulations and standards of the relevant country and region. For example, user positioning data and the like referred to in the present application are all acquired with sufficient authorization.

Referring to FIG. 1, a schematic diagram of an implementation environment provided by an exemplary embodiment of the present application is shown. The terminal 110 communicates with the server 120 through a network, and the data storage system may store data that needs to be processed by the server 120, such as original map data, including road edge data and intersection boundary data, where the road edge data may include information such as road class, road width, and number of lanes, and the intersection boundary data may include information such as intersection boundary width, intersection boundary connection road characteristics, and the data storage system may be integrated on the server 120, or may be placed on a cloud or other servers.

The terminal 110 is an electronic device in which an application supporting the map service is installed and run. The map service supporting function may be a function of an original application in the terminal or a function of a third party application; the application may be a map application, a navigation application, a positioning application, or any application that supports displaying intersections, such as a travel application, a game application that requires invoking and displaying road intersections, etc. The electronic device may be a smart phone, a tablet computer, a personal computer, a wearable device, a vehicle-mounted terminal, or the like, which is not limited in this embodiment.

The server 120 may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, a content delivery network (Content Delivery Network, CDN), basic cloud computing services such as big data and an artificial intelligence platform. In an embodiment of the present application, the server 120 may be a background server of an application program supporting a map service.

In one possible implementation, the terminal 110 and the server 120 communicate over a network. The terminal 110 obtains the edge data in the original map data from the server 120, traverses each edge data in sequence, obtains an edge data pair by pairing the edge data, further determines a projection overlapping area between the first edge and the second edge according to the edge data pair, and generates a road isolation belt in the projection overlapping area.

Referring to fig. 2, a flowchart of a method for generating a road isolation belt in a map according to an exemplary embodiment of the present application is shown, where the method is used for a computer device as an example, and the method includes the following steps.

Step 201, obtaining boundary line data in original map data, wherein the boundary line data comprises road boundary line data and intersection surface boundary line data, the road boundary line data is used for representing road boundary lines of the upper line and lower line separated roads in a target direction, and the intersection surface boundary line data is used for representing intersection surface boundary lines connected with the upper line and lower line separated roads.

Alternatively, in the common map data, the road is generally represented by a line segment without a width, and in the case that at least two line segments meet, a node is formed, that is, an end point of at least two line segments is denoted as a node, and the node represents an intersection formed by the intersection of the roads indicated by the at least two line segments.

In view of the fact that in the map navigation process based on the original map data, in order to more accurately indicate the road condition of the current driving road to the driver, it is generally required to widen the line segment without width into a road surface with a certain width, and optionally, the widening may be based on the road information of the road, such as the road class, the number of lanes, etc., where the lane class is, for example, a trunk road, a secondary trunk road, a branch road, etc., and the lane class may also be, for example, a primary road, a secondary road, a tertiary road, a quaternary road, etc. The roads of different road information correspond to different widening widths, and the computer equipment widens each road into a corresponding road surface according to the road width.

In some embodiments, the road information for the roads may directly include a corresponding road width by which the computer device widens each road to a corresponding road surface. In some embodiments, the road width of each road may also take the same value. It can be understood that the road surface formed after each road is widened comprises left side line and right side line of the road surface, which are used for widening the road width of the road, and the road width can be one side of the road or the common road width of the left side and the right side, and the respective road widths of the two sides can be the same or different.

Alternatively, the intersection surface is formed by extending a certain offset distance from a single intersection along the road surface of each road to obtain a vertical line with the road surface, and connecting the vertical lines on the road surface of each road to form a closed shape as the intersection surface of the single intersection.

Alternatively, in view of the fact that in real roads, road isolation zones are often provided between roads with separated upper and lower lines in order to avoid traffic congestion and improve traffic order, the computer device may also determine the road isolation zones between the respective edges in advance in the data compiling stage in order to improve the data accuracy of the original map data.

In one possible implementation, in order to be able to generate road isolation zones between roads, between intersections, or between roads and intersections, the computer device needs to first obtain edge data based on the raw map data, alternatively the edge data may include road edge data as well as intersection face edge data.

Optionally, the road edge data is used for representing a road edge of an upper and lower line separation road in a target direction, wherein the upper and lower line separation road refers to two adjacent roads with opposite advancing directions, and the target direction is determined based on traffic passing rules of a location where the map is navigated. For example, if the traffic rule is to go forward to the left, the target direction is the left direction.

Schematically, as shown in fig. 3, the first lane 302 and the second lane 303 are two lanes with opposite advancing directions and having the upward-downward line separation property.

Optionally, the intersection boundary data is used to represent an intersection boundary connecting the separated road, and the intersection 301 is schematically an intersection boundary connecting the separated road.

Step 202, traversing each sideline data in sequence, and pairing the sideline data to obtain a sideline data pair, wherein the sideline data pair comprises at least one of a road sideline data pair, an intersection surface sideline data pair and a road and intersection surface sideline data pair, the sideline data pair comprises first sideline data and second sideline data, and the first sideline represented by the first sideline data and the second sideline represented by the second sideline data are in a spatially adjacent and antiparallel relationship.

In one possible implementation, according to the design principle of the road isolation belt (dividing two roads with the property of separating the upper line from the lower line), in order to determine whether the road isolation belt can be generated between the roads, between the intersections, or between the roads and the intersections in the original map data, after acquiring the edge line data, the computer device further needs to determine the correspondence relationship between each edge line data according to the edge line data.

Alternatively, the roadway barrier may be disposed between a first edge and a second edge, the first edge and the second edge being in spatially adjacent and antiparallel relationship.

In one possible implementation, the computer device may obtain multiple sets of edge data pairs by traversing each edge data in turn, and by pairing the edge data, where the edge data pairs may optionally include at least one of a road edge data pair, an intersection surface edge data pair, and a road and intersection surface edge data pair.

Optionally, the edge data pair includes first edge data and second edge data, the first edge data is used for representing a first edge, the second edge data is used for representing a second edge, and the first edge and the second edge are in a spatially adjacent and antiparallel relationship.

Illustratively, as shown in FIG. 4, the first edge 401 and the second edge 402 are in spatially adjacent and antiparallel relationship.

Step 203, determining a projected overlap region between the first edge and the second edge based on the edge data pair.

In one possible implementation manner, after obtaining the plurality of sets of edge data pairs, the computer device may further determine, according to the edge data pairs, a projection overlapping area between the first edge and the second edge in order to improve the efficiency and accuracy of generating the road isolation belt, considering that the edge separation distances, the edge lengths, and the like of the different edge data pairs are different.

Alternatively, the projected overlap region refers to a road region between two edges having an antiparallel relationship.

Illustratively, as shown in FIG. 4, the computer device may determine a projected overlap region 403 between the first edge 401 and the second edge 402 based on the first edge data and the second edge data.

And 204, generating a road isolation belt in the projection overlapping area.

Further, the computer device generates a road barrier in the projection overlap region.

In one possible implementation manner, the computer device may use the first edge line and the second edge line as edges of the road isolation belt according to the first edge line and the second edge line corresponding to the projection overlapping area, and generate the road isolation belt between the first edge line and the second edge line.

Alternatively, the display attribute of the road isolation belt may include a green belt, a double yellow line, a single Huang Xian, a virtual-real line, and the like. In one possible implementation, the computer device may determine the display attribute of the road isolation belt according to other attributes such as the width and the length of the road isolation belt, which is not limited by the embodiment of the present application.

In summary, in the embodiment of the present application, by acquiring edge data from original map data, where the edge data includes road edge data and intersection surface edge data, and then traversing and pairing the edge data, multiple sets of edge data pairs may be obtained, where each set of edge data pairs includes first edge data and second edge data, and the first edge represented by the first edge data and the second edge represented by the second edge data are in a spatially adjacent and antiparallel relationship, and then, according to the edge data pairs, a projection overlapping area between the first edge and the second edge may be determined, and a road isolation belt may be generated in the projection overlapping area; by adopting the scheme provided by the embodiment of the application, the edge data pair is directly determined from the original map data, and the road isolation belt is generated according to the edge data pair, so that the generation efficiency of the road isolation belt in the map is improved.

In one possible implementation manner, considering the diversity of the edge data pairs, the length, the interval width, and the like of the first edge and the second edge may affect the generation of the road isolation belt, so in order to improve the accuracy of the generation of the road isolation belt, the computer device may further determine the projection overlapping area of the road isolation belt according to the specific correspondence between the first edge data and the second edge data in the edge data pairs.

In one possible implementation, in the original map data, a road edge is generally represented by a plurality of discrete shape points, so that, in the edge data obtained by the computer device, the road edge data and the intersection surface edge data can be represented in the form of a set of shape points.

Optionally, the first edge data includes a first set of shape points corresponding to the first edge, and the second edge data includes a second set of shape points corresponding to the second edge.

Referring to fig. 5, a flowchart of a method for generating a road isolation belt in a map according to an exemplary embodiment of the present application is shown, where the method is used for a computer device as an example, and the method includes the following steps.

In step 501, edge data in the original map data is acquired.

Step 502, traversing each sideline data in turn, and obtaining a sideline data pair by pairing the sideline data.

Specific embodiments of steps 501 to 502 may refer to steps 201 to 202, and this embodiment is not described herein.

Step 503, based on the preset width value, generating a first buffer surface with the first shape point set as the center and the preset width value as the single-side width.

In one possible implementation, considering that the characteristics such as the lengths of the first edge line and the second edge line, the edge line intervals, and the like are different, the widths, the lengths, and the like of the generated road isolation strips are also different, so in order to improve the accuracy of generating the road isolation strips, the computer device may determine the corresponding projection overlapping regions for each group of edge line data pairs respectively.

In one possible embodiment, the computer device may determine the edges of the road barrier on both sides by generating buffer surfaces from the first and second edges, respectively, in order to accurately obtain the edges of the road barrier, considering that the first and second edges may not be exactly the same in length in space and overlap in projection, i.e. the first and second edges may be in parallel and offset relationship, resulting in that the edges on both sides of the road barrier may be only a part of the first or second edges.

In one possible implementation manner, the computer device may first generate the first buffer surface with the first set of shape points corresponding to the first edge line as a center and the preset width value as a single-side width according to the preset width value.

Illustratively, as shown in fig. 6, the computer device generates a first buffer surface 602 with a first set of shape points 601 as a center and a preset width value as a single-sided width.

Alternatively, the preset width value may be a fixed value preset by an operator, or may be a plurality of different values, and the computer device determines the corresponding preset width value according to different road attributes, or may be a range interval value.

Alternatively, the computer device may utilize a first edge line formed by the first set of shape points to develop the first buffer surface by using a calculation geometry library, or may utilize other methods for developing the first buffer surface by using a point line, which is not limited in the embodiment of the present application.

In one possible embodiment, the computer device may also determine the height difference between the first side line and the second side line before generating the buffer surface, considering that the road barrier is generated to facilitate distinguishing and spacing two roads having upper and lower line separation, but in the case that the two roads have a significant upper and lower height difference, the road barrier is not necessarily generated.

In one possible implementation manner, the first shape point set includes m first shape points, the second shape point set includes n second shape points, the computer device may determine, by traversing the first shape point set and the second shape point set in sequence, adjacent second shape points corresponding to each first shape point from the second shape point set, where a distance between the first shape point and the corresponding adjacent second shape point is smaller than a distance between the first shape point and other second shape points, and further the computer device determines a height difference value between each first shape point and the corresponding adjacent second shape point, and generates the first buffer surface with the first shape point set as a center and a preset width value as a single-side width in a case that the height difference value is smaller than a height difference threshold.

Alternatively, the height difference threshold may be a fixed value preset by an operator, or may be a plurality of different values, where the computer device determines the corresponding height difference threshold according to different road attributes, or may be a range interval value.

Alternatively, the height difference threshold may be two corresponding values, namely a positive value and a negative value, or may be a positive value. In the case where the altitude difference threshold includes both positive and negative values, the computer device may directly compare and determine the altitude difference with the altitude difference threshold; in the case where the altitude difference threshold is a positive value, the computer device then needs to compare and determine the absolute value of the altitude difference with the altitude difference threshold.

In step 504, a second subset of shape points is determined where there is an intersection of the first buffer surface and the second set of shape points.

In one possible implementation, after obtaining the first buffer surface centered on the first set of shape points, the computer device may determine whether there is an intersection between the first buffer surface and the second set of shape points. Optionally, the judging result generally includes two cases, where the first case is that the distance between the first edge line and the second edge line is greater than a preset width value, so that no intersection exists between the first buffer surface and the second shape point set; the second case is that the distance between the first edge line and the second edge line is smaller than the preset width value, and an intersection exists between the first buffer surface and the second shape point set.

In a possible implementation manner, in a case that the first buffer surface and the second shape point set have an intersection, the computer device may determine a second shape point subset according to the intersection of the first buffer surface and the second shape point set, where each second shape point in the second shape point subset intersects the first buffer surface, and none of the other second shape points in the second shape point set intersect the first buffer surface.

Illustratively, as shown in FIG. 6, in the case where there is an intersection of the first buffer surface 602 with the second set of shape points, the computer device determines a second subset of shape points 603.

Step 505, generating a second buffer surface by taking the second shape point subset as a center and taking a preset width value as a single-side width.

In one possible implementation, after determining the second subset of shape points, the computer device may generate the second buffer surface with the second subset of shape points as a center and with a preset width value as a single-side width, as in the process of generating the first buffer surface.

Illustratively, as shown in fig. 6, the computer device generates a second buffer surface 604 centered on the second subset of shape points 603, with a preset width value as a single-sided width.

In step 506, a first subset of shape points is determined where there is an intersection of the second buffer surface with the first set of shape points.

In one possible implementation, after generating the second buffer surface centered on the second subset of shape points, the computer device may determine whether there is an intersection of the second buffer surface with the first subset of shape points.

In a possible implementation manner, in a case that the second buffer surface and the first shape point set have an intersection, the computer device may determine the first shape point subset according to the intersection of the second buffer surface and the first shape point set, where each first shape point in the first shape point subset intersects the second buffer surface, and none of the other first shape points in the first shape point set intersect the second buffer surface.

Illustratively, as shown in FIG. 6, where the second buffer surface 604 intersects the first set of shape points, the computer device determines a first subset of shape points 605.

In step 507, a projection overlap region is determined based on the first subset of shape points and the second subset of shape points.

Further, after determining the first shape point subset and the second shape point subset, the computer device may determine a projection overlap region according to the first shape point subset and the second shape point subset, where two side lines of the projection overlap region are two side lines formed by the first shape point subset and the second shape point subset.

Illustratively, as shown in FIG. 6, the computer device may determine the projected overlap region based on the first subset of shape points 605 and the second subset of shape points 603.

Step 508, determining a corresponding first set range of the first shape point subset in the first shape point set, where the first set range includes first shape point numbers of the first shape points of the first shape point subset in the first shape point set.

In one possible implementation manner, after determining the projection overlapping area corresponding to each edge line data pair by performing processing calculation on the original map data, the computer device needs to store each projection overlapping area, and considering that the edges of each projection overlapping area can directly correspond to the first shape point subset and the second shape point subset, so that in order to reduce the data storage amount and improve the data processing efficiency, the computer device can store the first shape point subset according to the first shape point subset in the range area of the first shape point set.

Optionally, in order to improve the storage efficiency of map data, the computer device may number the shape point sets corresponding to each edge, and number each shape point in each shape point set, so that each shape point set may be represented as a range section, and after determining the shape point sub-set, the computer device may determine a range sub-section corresponding to the shape point sub-set, where a start value of the range sub-section is a number of a first shape point in the shape point sub-set, and an end value is a number of a last shape point in the shape point sub-set.

In one possible implementation, the computer device may determine a corresponding first set range of the first subset of shape points in the first set of shape points, wherein the first set range includes first shape point numbers of the first two first shape points of the first subset of shape points within the first set of shape points.

Step 509, determining a second set range corresponding to the second shape point subset in the second shape point set, where the second set range includes second shape point numbers of two first and last second shape points of the second shape point subset in the second shape point set.

In one possible implementation, the computer device may also determine, based on the first second shape point number and the last second shape point number of the second shape point subset, a corresponding second set range of the second shape point subset in the second shape point set, as well as determining the first set range.

Step 510, storing the first set of ranges and the second set of ranges.

Furthermore, the computer device can directly store the first set range and the second set range without storing each shape point in the first shape point subset and the second shape point subset, thereby improving the data storage efficiency.

In step 511, a road isolation belt is generated in the projection overlap region.

In one possible implementation manner, after storing the first shape point subset and the second shape point subset by storing the first set range and the second set range, in the process of generating the road isolation belt based on the projection overlapping area, the computer device may directly obtain the first set range and the second set range, and determine the first shape point subset from the first shape point set according to the first shape point number in the first set range; and determining a second shape point subset from the second shape point set according to the second shape point number in the second set range, so as to generate the road isolation belt according to the first shape point subset, the second shape point subset and the projection overlapping area.

Schematically, fig. 7 shows a schematic diagram of generating road isolation strips in a map, where a first road isolation strip 701 is an isolation strip between roads, a second road isolation strip 702 is an isolation strip between roads and intersections, and a third road isolation strip 703 is an isolation strip between intersections.

In the above embodiment, the first buffer surface is developed by taking the first shape point set as the center, the second shape point subset is determined according to the intersection of the first buffer surface and the second shape point set, and then, similarly, the second buffer surface is developed by taking the second shape point subset as the center, and the first shape point subset is determined according to the intersection of the second buffer surface and the first shape point set, so that the projection overlapping area between the first side line and the second side line is determined, the accuracy of determining the projection overlapping area is improved, and the accuracy of generating the road isolation belt is further improved.

In addition, after the first shape point subset and the second shape point subset are determined, by further determining the first set range and the second set range, the first set range and the second set range are directly stored, rather than repeatedly storing each shape point in the first shape point subset and the second shape point subset, so that data storage efficiency is optimized.

In one possible implementation manner, in order to determine whether the first edge line and the second edge line have an adjacent and antiparallel relationship, the computer device may perform bidirectional projection on the first edge line and the second edge line, and determine according to a bidirectional projection result, so as to improve pairing accuracy of the edge line data pair.

Referring to fig. 8, a flowchart of a method for generating a road isolation belt in a map according to another exemplary embodiment of the present application is shown, and the method is used for a computer device as an example in this embodiment, and the method includes the following steps.

Step 801, edge data in original map data is acquired.

For a specific implementation of step 801, reference may be made to step 201, and this embodiment is not described herein.

Step 802, constructing a spatial index based on each edge line data, wherein the spatial index comprises index numbers corresponding to each edge line data.

Alternatively, the computer device may number each edge data before determining the adjacency relationship between each edge data, considering that there is a large amount of edge data in the map data.

In one possible implementation, the computer device may number each edge data by constructing a spatial index (RTree), where the spatial index includes an index number corresponding to each edge data.

In one possible implementation manner, considering that in the process of performing the edge data pairing, both the road edge data and the intersection surface edge data are related, in order to improve the data processing efficiency, the computer device may uniformly package each road edge data and the intersection surface edge data to obtain uniform edge data, so that the edge data may include an index number, a shape point set in a target direction, and all shape point sets.

Illustratively, the index number, the shape point set in the left direction, and the entire shape point set may be included in the road-side line data, and since only the shape point set in the left direction of the road is involved in the process of generating the road-side barrier, the entire shape point set in the road-side line data, that is, the shape point set in the left direction, is included.

Illustratively, the intersection surface side line data may include an index number, a shape point set between clipping points connecting two upper and lower line separated roads in the intersection surface, and all shape point sets on the intersection surface side line.

Step 803, traversing the edge data in turn based on the index numbers corresponding to the edge data, and judging the adjacent relation between the edges represented by the edge data.

In one possible implementation manner, after determining the index numbers corresponding to the edge data, the computer device may sequentially traverse the edge data according to the sequence of the index numbers, determine the adjacent relationship between the edges represented by the edge data by combining with the spatial index, and through the spatial index, the computer device may quickly determine other edge data near each edge data.

In step 804, when there is a second edge having an adjacent relationship with the first edge, the first shape points in the first shape point set corresponding to the first edge are sequentially projected to the second shape point set corresponding to the second edge, so as to obtain a first projection result.

In one possible implementation, the computer device may further determine whether an antiparallel relationship exists in space between the first edge and the second edge in the event that a second edge is determined that has an adjacent relationship with the first edge.

In one possible implementation, the computer device may determine whether an antiparallel relationship exists in space between the first edge line and the second edge line according to a projection result by performing two-way projection on the first edge line and the second edge line.

In a possible implementation manner, in a case that there is a second edge line having an adjacent relationship with the first edge line, the computer device may obtain a first projection result of projecting the first edge line toward the second edge line by sequentially performing projection processing on each first shape point in the first shape point set corresponding to the first edge line toward the second shape point set corresponding to the second edge line.

In one possible implementation manner, the first shape point set includes m first shape points, the computer device performs projection processing on an ith first shape point in the first shape point set to a second fold line formed by the second shape point set to obtain an ith first projection point, where the ith first projection point may be a foot of the ith first shape point based on the second fold line, and further in a case that a distance from the ith first projection point to the second fold line is smaller than a distance threshold, that is, the ith first projection point falls on the second fold line, the computer device may further determine the first edge vector according to the ith first shape point and a first target shape point adjacent to the ith first shape point.

Alternatively, in the case where the i-th first shape point is not the last shape point in the first shape point set, the first target shape point adjacent to the i-th first shape point may be the i+1th first shape point; in the case where the i-th first shape point is the last shape point in the first set of shape points, the first target shape point adjacent to the i-th first shape point may be the i-1-th first shape point.

Further, after obtaining the first line vector, the computer device may determine a first vector included angle between the first line vector and a second line vector corresponding to the second line vector, and determine the i first shape point as the first projectable shape point and obtain a first projection orientation corresponding to the i first shape point if the first vector included angle meets an angle threshold.

Alternatively, the angular threshold may be an angular range, such as one hundred fifty degrees to one hundred eighty degrees, i.e., when the first vector included angle is within the angular range, i.e., indicating that the antiparallel relationship between the first and second line vectors is satisfied.

Optionally, the first projection direction is used to indicate a side direction relationship between the ith first shape point and the second fold line, that is, the first projection direction may indicate that the ith first shape point is located in the target direction of the second fold line, or may indicate that the ith first shape point is not located in the target direction of the second fold line.

Schematically, as shown in fig. 9, the computer device projects the first shape point A2 onto the second fold line B1B2, wherein the first shape point A2 may be projected onto the second fold line, and the computer device determines the first edge vector And a second fold line vectorAnd obtain the first line vectorIs aligned with the second fold lineA first vector included angle 901 therebetween, wherein the first vector included angle 901 satisfies an angle threshold such that the first shape point A2 is a first projectable shape point.

In one possible implementation, the computer device performs statistics on projection conditions of each first shape point in the first shape point set, including performing cumulative count on the first projectable shape points, and determining a first projection direction corresponding to each first projectable shape point, so as to obtain a first projection result of projection of the first edge line to the second edge line.

Optionally, in the case that the first projection directions corresponding to the first projectable shape points are all consistent and are all the target directions, the computer device may determine the first projection result as the counting result and the target direction; in the event that there is a first projection orientation inconsistency corresponding to other first projectable shape points, the computer device may determine the first projection result as a count result and a null (NONE).

In step 805, each second shape point in the second shape point set corresponding to the second edge line is sequentially projected to the first shape point set corresponding to the first edge line, so as to obtain a second projection result.

In one possible implementation manner, the same process as the projection process of the first edge line to the second edge line is adopted, and the computer device projects the second edge line to the first edge line according to the same process, namely, each second shape point in the second shape point set corresponding to the second edge line is sequentially projected to the first shape point set corresponding to the first edge line, so as to obtain a second projection result.

In a possible implementation manner, the second shape point set includes n second shape points, the computer device performs projection processing on an ith second shape point in the second shape point set to a first folding line formed by the first shape point set to obtain an ith second projection point, where the ith second projection point may be a perpendicular foot of the ith second shape point based on the first folding line, and further in a case that a distance between the ith second projection point and the first folding line is smaller than a distance threshold, that is, the ith second projection point falls on the first folding line, the computer device may further determine a second edge vector according to the ith second shape point and a second target shape point adjacent to the ith second shape point.

Alternatively, in the case where the i-th second shape point is not the last shape point in the second shape point set, the second target shape point adjacent to the i-th second shape point may be the i+1th second shape point; in the case where the i-th second shape point is the last shape point in the second shape point set, the second target shape point adjacent to the i-th second shape point may be the i-1-th second shape point.

Further, after obtaining the second edge vector, the computer device may determine a second vector included angle between the second edge vector and the first edge vector corresponding to the first fold line, and determine the i second shape point as a second projectable shape point and obtain a second projection orientation corresponding to the i second shape point when the second vector included angle meets an angle threshold.

Alternatively, the angular threshold may be an angular range, such as one hundred fifty degrees to one hundred eighty degrees, i.e., when the second vector included angle is within the angular range, i.e., indicating that the second edge vector satisfies an anti-parallel relationship with the first fold line vector.

Optionally, the second projection direction is used to indicate a side direction relationship between the ith second shape point and the first folding line, that is, the second projection direction may indicate that the ith second shape point is located in the target direction of the first folding line, or may indicate that the ith second shape point is not located in the target direction of the first folding line.

In one possible implementation, the computer device counts the projection condition of each second shape point in the second shape point set, including performing cumulative count on the second projectable shape points, and determining a second projection azimuth corresponding to each second projectable shape point, so as to obtain a second projection result of the projection of the second edge line to the first edge line.

Optionally, in the case that the second projection directions corresponding to the second projectable shape points are all consistent and are all the target directions, the computer device may determine the second projection result as the counting result and the target direction; in the case that there is a second projection orientation inconsistency corresponding to other second projectable shape points, the computer device may determine the second projection result as a count result and a null.

Step 806, determining an antiparallel relationship between the first edge and the second edge based on the first projection result and the second projection result.

In one possible implementation, after obtaining the first projection result of the first edge projected toward the second edge and the second projection result of the second edge projected toward the first edge, the computer device may determine an antiparallel relationship between the first edge and the second edge according to the first projection result and the second projection result.

In one possible implementation, the computer device may determine that the first edge line and the second edge line have an antiparallel relationship when the first projection orientations corresponding to the first projectable shape points in the first projection result are identical, and the second projection orientations corresponding to the second projectable shape points in the second projection result are identical.

In one possible implementation manner, in a case where the first projection directions corresponding to the first projectable shape points in the first projection result are inconsistent, and the second projection directions corresponding to the second projectable shape points in the second projection result are inconsistent, that is, in a case where there are projectable shape points in the first projection result and the second projection result that are inconsistent with the projection directions corresponding to the other projectable shape points, the computer device may determine that the first edge line and the second edge line do not have an antiparallel relationship.

In one possible implementation manner, in the case that the first projection directions corresponding to the first projectable shape points in the first projection result are consistent, and the second projectable shape point is not present in the second projection result, that is, in the case that the count result corresponding to the second projection result is 0, the computer device may determine that an antiparallel relationship exists between the first edge line and the second edge line.

In one possible implementation manner, in the case that the second projection directions corresponding to the second projectable shape points in the second projection results are consistent, and the first projectable shape point is not present in the first projection result, that is, in the case that the count result corresponding to the first projection result is 0, the computer device may determine that an antiparallel relationship exists between the first edge line and the second edge line.

In step 807, a set of edge data corresponding to a set of edges having an adjacent and antiparallel relationship is determined as an edge data pair.

Further, after determining the antiparallel relationship between the edges corresponding to the respective edge data, the computer device may determine a set of edge data corresponding to a set of edges having an adjacent and antiparallel relationship as an edge data pair.

Step 808, determining a projected overlap region between the first edge and the second edge based on the pair of edge data.

And step 809, generating a road isolation belt in the projection overlapping area.

Specific embodiments of steps 808-809 can refer to steps 203-204, and this embodiment is not described herein.

In the above embodiment, considering that a large amount of edge data often exists in the original map data, by constructing the spatial index, a corresponding index number is determined for each edge data, and then each edge data is traversed based on the index number, so that the data processing efficiency is improved.

In addition, through carrying out two-way projection between the first side line and the second side line with adjacent relations based on the first shape point set and the second shape point set, a first projection result and a second projection result are obtained, and an anti-parallel relation between the first side line and the second side line is determined according to the first projection result and the second projection result, so that a plurality of groups of side line data pairs are obtained, accuracy of judging the anti-parallel relation between the side lines is improved, and pairing efficiency of the side line data pairs is improved.

In one possible implementation, considering that the edge data pair may include three possible cases of a road edge data pair, an intersection surface edge data pair, and a road and intersection surface edge data pair, in order to enable a driver to conveniently distinguish between road isolation strips corresponding to different types of edge data pairs in the map navigation process, the computer device may further determine display attributes of the road isolation strips corresponding to the different types of edge data pairs.

In one possible implementation, the computer device may first determine a first edge attribute of the first edge and a second edge attribute of the second edge according to the first edge data and the second edge data, respectively, where the edge attribute includes one of a road edge and an intersection surface edge.

Furthermore, when the first edge attribute and the second edge attribute are both road edges, the computer device may generate a road barrier with a first display attribute in the projection overlap region; under the condition that the first side line attribute and the second side line attribute are both intersection side lines, the computer equipment can generate a road isolation belt with the second display attribute in the projection overlapping area; in the case where the first and second edge attributes do not coincide, the computer device may generate a road barrier with a third display attribute in the projection overlap region.

The first display attribute, the second display attribute and the third display attribute are different from each other, for example, the first display attribute may be a green belt, the second display attribute may be a virtual-real line, the third display attribute may be a double yellow line, and optionally, the first display attribute, the second display attribute and the third display attribute may be specifically set according to the actual condition of the road.

In one possible implementation manner, for the case that the first edge attribute and the second edge attribute are both intersection surface edges, considering that in an actual road, an isolation mark is often not additionally set for an intersection in a connected state, so in order to further optimize road isolation belt data, in the case that the first edge attribute and the second edge attribute are both intersection surface edges, the computer device may determine the connected state of the first edge and the second edge.

For example, the intersection surface connecting the one-way road and the upper and lower line separated road may be in an unconnected state, and the intersection surface of the intersection is in a connected state.

In one possible implementation manner, in the case that the first edge attribute and the second edge attribute are both intersection surface edges and the first edge and the second edge are in an unconnected state, the computer device may generate a road isolation belt with the second display attribute in the projection overlapping region; under the condition that the first side line attribute and the second side line attribute are both intersection surface side lines and the first side line and the second side line are in a communication state, the computer equipment can not generate the road isolation belt with the second display attribute in the projection overlapping area.

In the above embodiment, considering that the sideline data pair may include three different situations of the road sideline data pair, the intersection surface sideline data pair and the road and intersection surface sideline data pair, according to the actual road design situation, the design modes of the road isolation belt between different sideline data pairs are often different, so that the display effect of the road isolation belt is optimized by setting the road isolation belt with different display attributes, and the map display efficiency is improved.

Referring to fig. 10, a general flowchart of a method for generating a road isolation belt according to an exemplary embodiment of the present application is shown.

Step 1001, start.

Step 1002, obtaining road edge data and intersection surface edge data in the original map data.

The computer device acquires road side line data and intersection surface side line data from the original map data.

In step 1003, the road edge data and the intersection surface edge data are uniformly processed to obtain edge data.

In order to determine the boundary matching relationship among roads, intersection surfaces and between roads and intersection surfaces at the same time, the computer equipment performs unified processing on the road boundary data and the intersection surface boundary data, and comprises setting index numbers, acquiring a shape point set in a target direction and all the shape point sets, and further unifying the road boundary data and the intersection surface boundary data into boundary data.

Step 1004, traversing each edge data in turn, and obtaining edge data pairs by pairing the edge data.

The computer device composes the edge data having adjacent and antiparallel relationships into edge data pairs by traversing and pairing the respective edge data.

Step 1005, determining a projected overlap region between the first edge and the second edge based on the edge data pair.

The computer device determines a projected overlap region between the first edge and the second edge from the first edge data and the second edge data in the pair of edge data.

In step 1006, a road isolation belt is generated in the projection overlap region.

The computer device generates a road barrier in the projection overlap region based on the first edge data and the second edge data.

Step 1007, end.

Referring to fig. 11, a flowchart of performing edge data pairing according to an exemplary embodiment of the present application is shown.

Step 1101, start.

Step 1102, an initial set of edge data pairs is created.

To uniformly manage edge data pairs, a computer device first creates an initial set of edge data pairs.

In step 1103, edge data is acquired.

The computer device obtains edge line data from the original map data.

Step 1104, constructing a spatial index.

To improve pairing efficiency, the computer device creates a spatial index based on the respective edge data.

Step 1105, traversing the edge data based on the index number.

The computer device traverses the edge data sequentially based on the index number.

Step 1106, a first index number corresponding to the current edge data is determined.

Step 1107, based on the spatial index, determines adjacent edge data having an adjacent relationship with the current edge data.

In view of the road isolation strip being generated only between the edges having the adjacency relationship, the computer apparatus determines adjacent edge data having the adjacency relationship with the current edge data based on the spatial index.

Step 1108, traversing adjacent edge data.

In step 1109, a second index number of the adjacent edge data is determined.

In step 1110, it is determined whether the first index number is smaller than the second index number.

In order to avoid repeated pairing, the computer device determines whether a first index number corresponding to the current edge data is smaller than a second index number, and if the first index number is larger than the second index number, the computer device indicates that the pair of edge data is already paired in the process of performing traversal pairing on the edge data corresponding to the second index number.

In step 1111, it is determined whether the edge data and the adjacent edge data have an antiparallel relationship.

If the computer device has an antiparallel relationship between the edge data and the adjacent edge data, then step 1112 is entered.

Step 1112, a set of edge data pairs is formed.

The computer device determines a set of edge data having an adjacent and antiparallel relationship as a set of edge data pairs.

Step 1113, adding edge data pairs to the set of edge data pairs.

Step 1114 returns the set of edge data pairs.

Step 1115, ends.

Referring to FIG. 12, a flow chart of determining an antiparallel relationship according to an exemplary embodiment of the present application is shown.

Step 1201, start.

Step 1202 determines a first projection result of the first edge projected toward the second edge.

Step 1203, determining a second projection result of the second edge line to the first edge line.

In step 1204, whether the first projection result and the second projection result are NONE.

The computer equipment judges whether the first projection result and the second projection result are NONE, and if the first projection result and the second projection result are NONE, the step 1205 is entered; if the first projection result and the second projection result are not equal to each other, the process proceeds to step 1206.

In step 1205, the first edge and the second edge do not have an antiparallel relationship.

And under the condition that the first projection result and the second projection result are NONE, namely, the first projection directions corresponding to the first projectable shape points in the first projection result are inconsistent, and the second projection directions corresponding to the second projectable shape points in the second projection result are inconsistent, determining that the first side line and the second side line do not have an antiparallel relationship.

In step 1206, whether the first projection result is NONE.

The computer device determines whether the first projection result is NONE, and if so, proceeds to step 1207; if the first projection result is not NONE, the process proceeds to step 1210.

In step 1207, the first count result is 0.

The computer equipment judges the first counting result, and if the first counting result is 0, the step 1208 is entered; if the first count result is not 0, the process proceeds to step 1209.

Step 1208 determines that the first edge has an antiparallel relationship with the second edge.

And under the condition that the first counting result is 0, namely the second projection directions corresponding to the second projectable shape points in the second projection result are consistent, and the first projectable shape points are not existed in the first projection result, determining that the first side line and the second side line have an antiparallel relation.

In step 1209, it is determined that the first edge does not have an antiparallel relationship with the second edge.

And under the condition that the first counting result is not 0, namely the second projection directions corresponding to the second projectable shape points in the second projection result are consistent, and if the first projectable shape point exists in the first projection result, determining that the first side line and the second side line do not have an antiparallel relation.

And under the condition that the second counting result is not 0, namely the first projection directions corresponding to the first projectable shape points in the first projection result are consistent, but the second projectable shape points exist in the second projection result, the first side line and the second side line are determined not to have an antiparallel relation.

In step 1210, whether the second projection result is NONE.

The computer device determines whether the second projection result is NONE, and if the second projection result is NONE, the step 1211 is entered; if the second projection result is not NONE, the process proceeds to step 1212.

In step 1211, the second count result is 0.

If the second projection result is NONE, the computer device determines the second count result, and if the second count result is 0, step 1212 is entered; if the second count result is not 0, the process proceeds to step 1209.

At step 1212, it is determined that the first edge has an antiparallel relationship with the second edge.

And under the condition that the second projection result is not NONE, namely, the first projection directions corresponding to the first projectable shape points in the first projection result are consistent, and the second projection directions corresponding to the second projectable shape points in the second projection result are consistent, determining that the first side line and the second side line have an antiparallel relationship.

And under the condition that the second counting result is 0, namely the first projection directions corresponding to the first projectable shape points in the first projection result are consistent, and the second projectable shape points are not present in the second projection result, determining that the first side line and the second side line have an antiparallel relation.

Step 1213, ends.

Referring to fig. 13, a flowchart of determining a projection result according to an exemplary embodiment of the present application is shown.

Step 1301, start.

In step 1302, the projection success count count=0, and the number of projections i=1.

The computer device first sets a projection success count to 0 and performs projection processing starting from a first one of the first set of shape points.

Step 1303, i is whether or not it is smaller than the length of the first set of shape points.

In step 1304, the ith first shape point is taken as the target point.

In step 1305, whether the target point may be projected between two adjacent points in the second set of shape points.

The computer device determines whether the target point can be projected between two adjacent points in the second set of shape points, and if the target point can be projected between two adjacent points in the second set of shape points, proceeds to step 1306; in case the target point may not be projected between two adjacent points in the second set of shape points, step 1320 is entered.

In step 1306, coordinates P1 and P2 of the two points are calculated, where P1 points to P2 in the direction of travel of the second set of shape points.

In step 1307, a vertical distance d from the target point to the line where P1 and P2 are located is calculated.

Step 1308, d is less than a distance threshold.

The computer equipment judges the vertical distance from the target point to the straight line where P1 and P2 are located, and if the vertical distance is smaller than the distance threshold value, step 1309 is entered; in the case where the vertical distance is greater than the distance threshold, step 1321 is entered.

In step 1309, a second polyline vector for P1 through P2 is calculated.

At step 1310, whether the target point is the last point in the first set of shape points.

The computer device determines whether the target point is the last point in the first set of shape points, and if so, proceeds to step 1311; in the event that the target point is not the last point in the first set of shape points, step 1312 is entered.

Step 1311, a first edge vector from a previous point to the target point in the first set of shape points is calculated.

In the case where the target point is the last point in the first set of shape points, the computer device calculates a first edge vector from a point preceding the target point in the first set of shape points to the target point.

Step 1312 calculates a first edge vector from the target point to a point subsequent to the target point in the first set of shape points.

In the case that the target point is not the last point in the first set of shape points, the computer device calculates a first borderline vector from the target point in the first set of shape points to a point subsequent to the target point.

At 1313, a first vector angle b between the first and second line vectors is determined.

Step 1314, b, whether the angle threshold is met.

The computer device determines whether the first vector included angle meets an angle threshold, and if so, proceeds to step 1315; in the case where the first vector included angle does not meet the angle threshold, step 1321 is entered.

In step 1315, the projection successfully counts count+1.

In case the first vector included angle meets the angle threshold, it is indicated that the target point is a first projectable shape point.

At step 1316, a first projection bearing is determined.

At step 1317, count=1.

The computer device determines whether the projection success count is equal to 1, if the projection success count is equal to 1, the target point is the first point of successful projection, and then step 1318 is entered; in the case where the projection success count is not equal to 1, it indicates that the target point is not the first projection success point, and step 1319 is entered.

At step 1318, a first projection bearing is recorded.

And under the condition that the projection success count is equal to 1, the target point is the first successful projection point, and the computer equipment records the first projection azimuth corresponding to the current target point.

At step 1319, whether the current first projection orientation is consistent with the previous one.

If the count of successful projection count is not equal to 1, it indicates that the target point is not the first successful projection point, and the computer device needs to determine whether the first projection orientation corresponding to the current target point is consistent with the first projection orientation corresponding to the previous shape point.

Step 1320, i is incremented by one.

And when the first projection azimuth corresponding to the current target point is consistent with the first projection azimuth corresponding to the previous shape point, adding one to i, and starting the projection processing on the next first shape point by the computer equipment.

At step 1321, it is determined that the first edge and the second edge do not have an antiparallel relationship.

At step 1322, a first projection result is returned.

Step 1323, end.

Referring to fig. 14, a flowchart of determining a projection overlap region according to an exemplary embodiment of the present application is shown.

Step 1401, beginning.

Step 1402 creates a projection overlap region data set.

To uniformly manage projection overlap region data, a computer device first creates a projection overlap region data set.

Step 1403, edge data pairs are acquired.

Step 1404, traversing edge data pairs.

In step 1405, a preset width value is obtained.

In step 1406, the current edge data pair is marked as a first edge and a second edge.

In step 1407, whether the first edge and the second edge meet the height condition.

The computer device determines whether the first edge and the second edge meet the height condition, and if the first edge and the second edge meet the height condition, step 1408 is entered; if the first edge and the second edge do not satisfy the height condition, the process returns to step 1404.

At step 1408, a first set of shape points and a second set of shape points are obtained.

Step 1409 generates a first buffer surface centered on the first set of shape points.

Step 1410, whether the first buffer surface has an intersection with the second set of shape points.

The computer device determines whether the first buffer surface has an intersection with the second set of shape points, and if so, proceeds to step 1411; if there is no intersection between the first buffer surface and the second set of shape points, the process returns to step 1404.

Step 1411, a second subset of shape points is determined.

Step 1412, generating a second buffer surface centered on the second subset of shape points.

Step 1413, whether the second buffer surface has an intersection with the first set of shape points.

The computer device determines whether the second buffer surface has an intersection with the first shape point set, and if so, proceeds to step 1414; if there is no intersection between the second buffer surface and the first set of shape points, the process returns to step 1404.

Step 1414, a first subset of shape points is determined.

Step 1415, a first aggregate range and a second aggregate range are determined.

To increase data storage efficiency, a computer device determines a first aggregate range and a second aggregate range.

Step 1416, storing the first set of ranges and the second set of ranges into the projection overlap region data set.

Step 1417, the projected overlapping region data set is returned.

Step 1418, ends.

Referring to fig. 15, a block diagram of an apparatus for generating a road isolation strip in a map according to an exemplary embodiment of the present application is shown, the apparatus including.

An obtaining module 1501, configured to obtain edge data in original map data, where the edge data includes road edge data and intersection surface edge data, the road edge data is used to represent a road edge of an upper and lower line separation road in a target direction, and the intersection surface edge data is used to represent an intersection surface edge of a connection upper and lower line separation road;

a pairing module 1502, configured to sequentially traverse each edge data, and pair the edge data to obtain an edge data pair, where the edge data pair includes at least one of a road edge data pair, an intersection surface edge data pair, and a road and intersection surface edge data pair, the edge data pair includes first edge data and second edge data, and a first edge represented by the first edge data and a second edge represented by the second edge data are in a spatially adjacent and antiparallel relationship;

a region determining module 1503 configured to determine a projected overlapping region between the first edge and the second edge based on the pair of edge data;

The isolation belt generating module 1504 is configured to generate a road isolation belt in the projection overlapping area.

Optionally, the first edge data includes a first shape point set corresponding to the first edge, and the second edge data includes a second shape point set corresponding to the second edge;

the area determining module 1503 is configured to:

based on a preset width value, taking the first shape point set as a center, and taking the preset width value as a single-side width, generating a first buffer surface;

determining a second subset of shape points if there is an intersection of the first buffer surface and the second set of shape points;

generating a second buffer surface by taking the second shape point subset as a center and taking the preset width value as a single-side width;

determining a first subset of shape points if the second buffer surface has an intersection with the first set of shape points;

the projection overlap region is determined based on the first subset of shape points and the second subset of shape points.

Optionally, the first shape point set includes m first shape points, and the second shape point set includes n second shape points;

the device further includes, based on a preset width value, with the first shape point set as a center and with the preset width value as a single-side width, before generating the first buffer surface:

The shape point determining module is used for traversing the first shape point set and the second shape point set in sequence, and determining adjacent second shape points corresponding to each first shape point from the second shape point set;

a difference determining module, configured to determine a height difference between each first shape point and a corresponding adjacent second shape point;

the area determining module 1503 is further configured to:

and under the condition that the height difference value is smaller than a height difference threshold value, the first buffer surface is generated by taking the first shape point set as a center and taking the preset width value as a single-side width.

Optionally, after the determining the projection overlap region based on the first subset of shape points and the second subset of shape points, the apparatus further includes:

a first range determining module, configured to determine a first set range corresponding to the first shape point subset in the first shape point set, where the first set range includes first shape point numbers of first and last two first shape points of the first shape point subset in the first shape point set;

a second range determining module, configured to determine a second set range corresponding to the second shape point subset in the second shape point set, where the second set range includes second shape point numbers of two second shape points of the first and the last of the second shape point subset in the second shape point set;

And the storage module is used for storing the first set range and the second set range.

Optionally, the isolation belt generating module 1504 is configured to:

acquiring the first set range and the second set range;

determining the first shape point subset from the first shape point set based on the first shape point number in the first set range;

determining the second shape point subset from the second shape point set based on the second shape point number in the second set range;

the roadway isolation strip is generated based on the first subset of shape points, the second subset of shape points, and the projection overlap region.

Optionally, the pairing module 1502 is configured to:

constructing a spatial index based on each side line data, wherein the spatial index comprises index numbers corresponding to each side line data;

traversing the edge data in turn based on index numbers corresponding to the edge data, and judging adjacent relations among edges represented by the edge data;

and determining a set of edge data corresponding to a set of edges with adjacent and antiparallel relations as the pair of edge data.

Optionally, before determining, as the edge data pair, a set of edge data corresponding to a set of edges having an adjacent and antiparallel relationship, the apparatus further includes:

the first projection module is used for sequentially carrying out projection processing on each first shape point in a first shape point set corresponding to the first edge line to a second shape point set corresponding to the second edge line under the condition that the second edge line with an adjacent relation with the first edge line exists, so as to obtain a first projection result;

the second projection module is used for sequentially projecting each second shape point in the second shape point set corresponding to the second edge line to the first shape point set corresponding to the first edge line to obtain a second projection result;

and the relation judging module is used for judging the antiparallel relation between the first side line and the second side line based on the first projection result and the second projection result.

Optionally, the first shape point set includes m first shape points; the first projection module is used for:

performing projection processing on the ith first shape point in the first shape point set to a second fold line formed by the second shape point set to obtain an ith first projection point;

Generating a first edge vector based on the ith first shape point and a first target shape point adjacent to the ith first shape point, if the distance from the ith first projection point to the second fold line is less than a distance threshold;

under the condition that a first vector included angle between the first side line vector and a second side line vector corresponding to the second folding line meets an angle threshold, the ith first shape point is a first projectable shape point, and a first projection azimuth corresponding to the ith first shape point is determined;

and carrying out accumulated counting on the first projectable shape points, and determining the first projection result according to the first projection positions corresponding to the first projectable shape points.

Optionally, the second shape point set includes n second shape points; the second projection module is used for:

performing projection processing on the ith second shape point in the second shape point set to a first folding line formed by the first shape point set to obtain an ith second projection point;

generating a second edge vector based on the ith second shape point and a second target shape point adjacent to the ith second shape point, if the distance from the ith second projection point to the first fold line is less than a distance threshold;

Under the condition that a second vector included angle between the second side line vector and the first side line vector corresponding to the first folding line meets an angle threshold, the ith second shape point is a second projectable shape point, and a second projection azimuth corresponding to the ith second shape point is determined;

and carrying out accumulated counting on the second projectable shape points, and determining the second projection result according to the second projection positions corresponding to the second projectable shape points.

Optionally, the relationship judging module is configured to:

determining that the first side line and the second side line have the anti-parallel relationship under the condition that the first projection positions corresponding to the first projectable shape points in the first projection result are consistent and the second projection positions corresponding to the second projectable shape points in the second projection result are consistent;

determining that the first side line and the second side line do not have the anti-parallel relationship under the condition that the first projection positions corresponding to the first projectable shape points in the first projection result are inconsistent and the second projection positions corresponding to the second projectable shape points in the second projection result are inconsistent;

Determining that the first side line and the second side line have the anti-parallel relationship under the condition that the first projection directions corresponding to the first projectable shape points in the first projection results are consistent and the second projectable shape points in the second projection results do not exist;

and determining that the first side line and the second side line have the anti-parallel relation under the condition that the second projection directions corresponding to the second projectable shape points in the second projection results are consistent and the first projectable shape point does not exist in the first projection result.

Optionally, the isolation belt generating module 1504 is configured to:

determining a first edge attribute of the first edge and a second edge attribute of the second edge based on the first edge data and the second edge data, wherein the edge attribute comprises one of a road edge and an intersection surface edge;

generating a road isolation belt with a first display attribute in the projection overlapping area under the condition that the first side line attribute and the second side line attribute are road side lines;

generating a road isolation belt with a second display attribute in the projection overlapping area under the condition that the first side line attribute and the second side line attribute are both intersection surface side lines;

And generating a road isolation belt with a third display attribute in the projection overlapping area under the condition that the first side line attribute is inconsistent with the second side line attribute, wherein the first display attribute, the second display attribute and the third display attribute are different from each other.

Optionally, the isolation belt generating module 1504 is further configured to:

generating a road isolation belt with a second display attribute in the projection overlapping area under the condition that the first side line attribute and the second side line attribute are both intersection surface side lines and the first side line and the second side line are in an unconnected state;

and when the first side line attribute and the second side line attribute are both intersection side lines and the first side line and the second side line are in a communication state, a road isolation belt with a second display attribute is not generated in the projection overlapping area.

It should be noted that: the apparatus provided in the above embodiment is only exemplified by the division of the above functional modules, and in practical application, the above functional allocation may be performed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules, so as to perform all or part of the functions described above. In addition, the apparatus and the method embodiments provided in the foregoing embodiments belong to the same concept, and detailed implementation processes of the method embodiments are described in the method embodiments, which are not repeated herein.

Referring to fig. 16, a schematic diagram of a computer device according to an exemplary embodiment of the present application is shown. Specifically, the present application relates to a method for manufacturing a semiconductor device. The computer apparatus 1600 includes a central processing unit (Central Processing Unit, CPU) 1601, a system memory 1604 including a random access memory 1602 and a read only memory 1603, and a system bus 1605 connecting the system memory 1604 and the central processing unit 1601. The computer device 1600 also includes a basic Input/Output system (I/O) 1606 to facilitate transfer of information between various devices within the computer, and a mass storage device 1607 for storing an operating system 1613, application programs 1614, and other program modules 1615.

The basic input/output system 1606 includes a display 1608 for displaying information and an input device 1609, such as a mouse, keyboard, etc., for user input of information. Wherein the display 1608 and the input device 1609 are both coupled to the central processing unit 1601 by way of an input output controller 1610 coupled to the system bus 1605. The basic input/output system 1606 may also include an input/output controller 1610 for receiving and processing input from a keyboard, mouse, or electronic stylus, among a plurality of other devices. Similarly, the input-output controller 1610 also provides output to a display screen, printer, or other type of output device.

The mass storage device 1607 is connected to the central processing unit 1601 by a mass storage controller (not shown) connected to the system bus 1605. The mass storage device 1607 and its associated computer-readable media provide non-volatile storage for the computer device 1600. That is, the mass storage device 1607 may include a computer-readable medium (not shown), such as a hard disk or drive.

The computer readable medium may include computer storage media and communication media without loss of generality. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes random access Memory (RAM, random Access Memory), read Only Memory (ROM), flash Memory or other solid state Memory technology, compact disk (CD-ROM), digital versatile disk (Digital Versatile Disc, DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will recognize that the computer storage medium is not limited to the one described above. The system memory 1604 and mass storage 1607 described above may be collectively referred to as memory.

The memory stores one or more programs configured to be executed by the one or more central processing units 1601, the one or more programs containing instructions for implementing the methods described above, the central processing unit 1601 executing the one or more programs to implement the methods provided by the various method embodiments described above.

According to various embodiments of the application, the computer device 1600 may also operate through a network, such as the Internet, to remote computers connected to the network. That is, the computer device 1600 may be connected to the network 1611 through a network interface unit 1612 coupled to the system bus 1605, or the network interface unit 1612 may be used to connect to other types of networks or remote computer systems (not shown).

The embodiment of the application also provides a computer readable storage medium, wherein at least one instruction is stored in the readable storage medium, and the at least one instruction is loaded and executed by a processor to realize the method for generating the road isolation belt in the map.

Alternatively, the computer-readable storage medium may include: ROM, RAM, solid state disk (SSD, solid State Drives), or optical disk, etc. The RAM may include, among other things, resistive random access memory (ReRAM, resistance Random Access Memory) and dynamic random access memory (DRAM, dynamic Random Access Memory).

Embodiments of the present application provide a computer program product comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method for generating the road barrier in the map described in the above embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but is intended to cover all modifications, equivalents, alternatives, and improvements falling within the spirit and principles of the application.

Claims

1. A method for generating a road isolation belt in a map, the method comprising:

and generating a road isolation belt in the projection overlapping area.

2. The method of claim 1, wherein the first edge data comprises a first set of shape points corresponding to the first edge and the second edge data comprises a second set of shape points corresponding to the second edge;

the determining, based on the pair of edge data, a projected overlap region between the first edge and the second edge, comprising:

3. The method of claim 2, wherein the first set of shape points includes m first shape points and the second set of shape points includes n second shape points;

the method further comprises, based on a preset width value, taking the first shape point set as a center and taking the preset width value as a single-side width, and before generating the first buffer surface:

traversing the first shape point set and the second shape point set in sequence, and determining adjacent second shape points corresponding to each first shape point from the second shape point set;

determining a height difference between each first shape point and a corresponding adjacent second shape point;

Based on a preset width value, taking the first shape point set as a center, taking the preset width value as a single-side width, and generating a first buffer surface comprises the following steps:

4. The method of claim 2, wherein after the determining the projection overlap region based on the first subset of shape points and the second subset of shape points, the method further comprises:

determining a first set range corresponding to the first shape point subset in the first shape point set, wherein the first set range comprises first shape point numbers of first and last two first shape points of the first shape point subset in the first shape point set;

determining a second set range corresponding to the second shape point subset in the second shape point set, wherein the second set range comprises second shape point numbers of two first and last second shape points of the second shape point subset in the second shape point set;

The first set of ranges and the second set of ranges are stored.

5. The method of claim 4, wherein the generating a roadway barrier in the projected overlap region comprises:

acquiring the first set range and the second set range;

6. The method according to claim 1, wherein traversing each edge data in turn, by pairing the edge data, obtains an edge data pair, includes:

7. The method of claim 6, wherein the determining a set of edge data corresponding to a set of edges having an adjacent and antiparallel relationship is preceded by the determining as the pair of edge data, the method further comprising:

when the second side line with the adjacent relation with the first side line exists, sequentially projecting each first shape point in the first shape point set corresponding to the first side line to the second shape point set corresponding to the second side line to obtain a first projection result;

sequentially projecting each second shape point in the second shape point set corresponding to the second edge line to the first shape point set corresponding to the first edge line to obtain a second projection result;

and judging the antiparallel relation between the first side line and the second side line based on the first projection result and the second projection result.

8. The method of claim 7, wherein the first set of shape points includes m first shape points; the step of sequentially performing projection processing on each first shape point in the first shape point set corresponding to the first edge line to the second shape point set corresponding to the second edge line to obtain a first projection result includes:

9. The method of claim 7, wherein the set of second shape points includes n second shape points; the step of sequentially performing projection processing on each second shape point in the second shape point set corresponding to the second edge line to the first shape point set corresponding to the first edge line to obtain a second projection result, including:

10. The method according to claim 8 or 9, wherein determining an antiparallel relationship between the first edge and the second edge based on the first projection result and the second projection result comprises:

11. The method of claim 1, wherein the generating a roadway barrier in the projected overlap region comprises:

12. The method of claim 11, wherein, in the case where the first edge attribute and the second edge attribute are both intersection edges, generating a road barrier with a second display attribute in the projected overlapping region comprises:

The method further comprises the steps of:

13. A generation device of a road isolation belt in a map, the device comprising:

14. A computer device, the computer device comprising a processor and a memory; the memory stores at least one instruction for execution by the processor to implement the method of generating road isolation zones in a map of any of claims 1 to 12.

15. A computer readable storage medium having stored therein at least one instruction loaded and executed by a processor to implement the method of generating a road barrier in a map of any one of claims 1 to 12.