CN111696170B

CN111696170B - Map drawing method, device, equipment and medium

Info

Publication number: CN111696170B
Application number: CN202010506696.0A
Authority: CN
Inventors: 曾益
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2020-06-05
Filing date: 2020-06-05
Publication date: 2023-07-04
Anticipated expiration: 2040-06-05
Also published as: CN111696170A

Abstract

The embodiment of the application discloses a map drawing method, a map drawing device, map drawing equipment and map drawing media, and relates to automatic driving and navigation technologies. Wherein the method comprises the following steps: acquiring road level data and lane level data of a target road; the road level data is used for describing the target road from the road level precision, and the lane level data is used for describing the target road from the lane line level precision; and drawing target road elements of the target road on the map by utilizing the road-level data and the lane-level data. The embodiment of the application realizes the optimization effect on the electronic map and is beneficial to realizing the lane-level navigation in the true sense.

Description

Map drawing method, device, equipment and medium

Technical Field

Embodiments of the present application relate to computer technology, and in particular, to automatic driving and navigation technology, and more particularly, to a map drawing method, apparatus, device, and medium.

Background

The drawing of electronic maps is an important technical link in the navigation and automatic driving fields.

With the continuous increase of the positioning capability of the acquisition device and the handheld device for acquiring map data, high-precision positioning and navigation are just as a certain trend of future development. However, the existing electronic map is not suitable for high-precision positioning and navigation because of effective data precision.

Disclosure of Invention

The embodiment of the application provides a map drawing method, a map drawing device, map drawing equipment and a map drawing medium so as to optimize an electronic map.

According to an aspect of an embodiment of the present application, there is provided a mapping method, including:

acquiring road level data and lane level data of a target road; wherein the road level data is used for describing the target road from road level accuracy, and the lane level data is used for describing the target road from lane line level accuracy;

and drawing target road elements of the target road on a map by utilizing the road level data and the lane level data.

According to another aspect of the embodiments of the present application, there is provided a map drawing apparatus including:

the data acquisition module is used for acquiring road-level data and lane-level data of the target road; wherein the road level data is used for describing the target road from road level accuracy, and the lane level data is used for describing the target road from lane line level accuracy;

and the element drawing module is used for drawing the target road element of the target road on a map by utilizing the road level data and the lane level data.

According to another aspect of the embodiments of the present application, there is provided an electronic device, including:

At least one processor; and

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

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the mapping method as described in any one of the embodiments of the present application.

According to another aspect of embodiments of the present application, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform a mapping method according to any of the embodiments of the present application.

According to the technical scheme of the embodiment of the application, the road level data of the target road is described from the road level precision and the lane level data of the target road is described from the lane line level precision are comprehensively utilized, and the target road element of the target road on the electronic map is drawn, so that the optimization effect on the electronic map is realized.

It should be understood that what is described in this section is not intended to identify key or critical features of the embodiments of the application or to delineate the scope of the application. Other features of the present application will become apparent from the description that follows.

Drawings

The drawings are for better understanding of the present solution and do not constitute a limitation of the present application. Wherein:

FIG. 1 is a flow chart of a mapping method disclosed in accordance with an embodiment of the present application;

FIG. 2 is a schematic illustration of an effect of drawing a target road element using road level data and lane level data according to an embodiment of the present application;

FIG. 3 is a flow chart of another mapping method disclosed in accordance with an embodiment of the present application;

FIG. 4 is a schematic illustration of a fitting process for boundary stitching curves provided in accordance with an embodiment of the present application;

FIG. 5 is a schematic diagram of another fitting process of boundary splicing curves provided according to embodiments of the present application;

FIG. 6 is a flow chart of another mapping method disclosed in accordance with an embodiment of the present application;

FIG. 7 is a flow chart of another mapping method disclosed in accordance with an embodiment of the present application;

FIG. 8 is a schematic drawing of a lane guidance sign according to an embodiment of the present application;

FIG. 9 is a schematic diagram of an effect of a lane guidance sign according to an embodiment of the present application;

FIG. 10 is a flow chart of another mapping method disclosed in accordance with an embodiment of the present application;

FIG. 11A is a schematic view of an effect of a flow guiding surface according to an embodiment of the present application;

FIG. 11B is a schematic view of another effect of the flow guiding surface according to an embodiment of the present application;

fig. 12 is a schematic structural view of a mapping apparatus according to an embodiment of the present application;

fig. 13 is a block diagram of an electronic device according to an embodiment of the present disclosure.

Detailed Description

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

Fig. 1 is a flowchart of a map drawing method disclosed according to an embodiment of the present application, which can be applied to a case of how to use high-precision map data for drawing an electronic map when the high-precision map data is acquired, and to achieve compatibility of both the high-precision map data and the low-precision map data. The method disclosed in the embodiments of the present application may be performed by a mapping apparatus, which may be implemented by software and/or hardware, and may be integrated on any electronic device having computing capabilities, for example, a server, a vehicle-mounted terminal, a mobile terminal, a tablet computer, or the like.

Before mapping, the data required in the mapping process needs to be prepared first. In the embodiment of the present application, the road level data may also be referred to as non-high-precision vector road network data, and is used to describe a specific road from the road level precision. The road-level data is road network data collected according to the road granularity, namely, a road containing a plurality of lanes also has only one road data in the unit of road segments (links). The road data includes a series of position coordinate points, typically on a road centerline. The link is the minimum length acquisition unit in the conventional road data acquisition process. The road data corresponding to a road segment may be referred to as a road-level data subset (group). For roads of a particular length, the subset of road data may be ordered, typically by road segment location. In the process of collecting and making road-level data, road accessory information such as road class, traffic capacity, number of lanes, road category, road width, etc. may also be included as appropriate.

Lane-level data, which may also be referred to as high-precision vector road network data, is used to describe a specific road from lane-line level accuracy. Specifically, the lane-level data is road network data collected according to the granularity of lane lines, and lane line information included in any road is collected in detail, which may include, but is not limited to, lane dividing line data (including coordinate points where a series of lane dividing lines are located) of each road, lane center line data (including coordinate points where a series of lane center lines are located), and the like. The lane-level data may be collected in finer units of length than the road segments used to collect the road-level data during a particular collection. Lane-level data collected in any fine length unit may be referred to as a subset of lane-level data (group). In other words, for a particular length of road, its lane-level data may include at least one subset of lane-level data, and these subsets of lane-level data may be ordered by the first and last position of the unit of acquisition length.

In addition, after obtaining the road-level data and the lane-level data of the same road, a mapping relationship between the road-level data and the lane-level data, or a binding relationship, may be established, so as to facilitate subsequent data use. For example, one piece of road-level data M may correspond to at least one piece of lane-level data N, or one piece of road-level data M may correspond to a plurality of subsets of lane-level data, although one subset of lane-level data may correspond to a plurality of subsets of road data.

As shown in fig. 1, the mapping method disclosed in the embodiment of the present application may include:

s101, acquiring road level data and lane level data of a target road; the road level data is used for describing the target road from the road level precision, and the lane level data is used for describing the target road from the lane line level precision.

In the process of drawing the map, the road grade data and the lane grade data of the target road can be determined according to the corresponding relation between the road mark or the road name, the road grade data and the lane grade data, which are determined in advance in the data preparation stage; the road level data of the target road may be obtained first, and the lane level data of the target road may be obtained according to a mapping relationship between the road level data and the lane level data, which is not limited in particular in the embodiment of the present application. The target road may be any one of the roads in the road network. The road-level data and the lane-level data are data bases for drawing road elements corresponding to the target road, in other words, after the road-level data and the lane-level data are acquired, according to an element drawing policy, the required road elements can be drawn on the map. The road element is part of the map element.

S102, drawing target road elements of the target road on the map by using the road-level data and the lane-level data.

In the embodiment of the application, the lane-level data with higher precision and the road-level data with lower precision can be simultaneously utilized to draw the target road element of the target road on the map, so that the optimization of the map element which can be displayed by the existing electronic map is realized, and finer and more accurate road information is provided. The target road element may include, but is not limited to, a lane division line, a lane center line (refer to a center line of any one lane along the length direction), a road center line (refer to a center line of any one road along the length direction), a road surface, a road boundary line, a road diversion mark, a road diversion surface, and the like. In addition, in the embodiment of the present application, the road element drawn by using the road data and the road element drawn by using the lane data may be the road element of the same name for the target road or may be the road element of a different name, for example, the road-level data and the lane-level data may be both used to draw the road center line of the target road, the lane-level data may also be used to draw the lane dividing line, and the lane-level data may not be used to draw the lane dividing line, which is specifically determined by the data accuracy supported by the road-level data and the lane-level data.

Specifically, for the same item of marked road, if the coverage of the road-level data and the lane-level data in the road length direction is the same, the road-level data may be used to draw a basic road element of the road, and the lane-level data may be used to draw a fine road element of the road, and then the basic road element and the fine road element may be selected to be simultaneously used as target road elements of the road for display on a map. Meanwhile, in the process that the user uses the map, a map element display switching control can be provided for the user on a map application program interface so that the user can select the type of the road element which can be displayed currently according to the requirement. For example, the default state may be set to be that the basic road element and the fine road element are displayed at the same time, so that even if the user equipment is positioned inaccurately, the road element displayed on the navigation map has navigation reference significance; and similarly, if the user selects the high-precision display mode, the display of the basic road elements can be hidden. Thus, the display diversity of map elements of the map application can be improved, and the map application functions are enriched.

For the same road, if the coverage areas of the road-level data and the lane-level data in the road length direction are different, the road elements can be drawn by using the road-level data and the lane-level data respectively in the areas where the coverage areas are repeated and used as target road elements, and the fine road elements can be drawn by using the lane-level data and used as target road elements in the areas; and for the road area which cannot be covered by the lane-level data, drawing the road element by using the road-level data and taking the road element as a target road element of the area.

Even if the collection precision of the lane-level data is higher, the collection cost is relatively higher, and the situation that all roads in the whole country cannot be completely covered exists within a certain period, namely, the coverage of the high-precision data can be limited to a certain extent, by adopting the technical scheme of the embodiment of the application, the map can be ensured to display the road information with higher precision on the whole, and the real lane-level navigation can be realized. Further, since an autonomous vehicle is considered to generally have a relatively fixed travel area, it is possible to obtain a high-precision map in the fixed area by ensuring that road data in the fixed travel area is high-precision lane-level data, and the map is used for an autonomous decision.

Fig. 2 is a schematic diagram of an effect of drawing a target road element using road-level data and lane-level data according to an embodiment of the present application, where the example target road element specifically includes a lane dividing line, a lane center line, and a road center line on a target road including four lanes. As shown in fig. 2, a plurality of broken lines 21 and a plurality of straight lines 23 with thinner lines are shown in the drawing to respectively represent a lane center line and a lane dividing line drawn by using high-precision lane data, wherein the lane center line can be obtained by using adjacent lane dividing lines, for example, by averaging coordinate points on the adjacent lane dividing lines; the thicker line 22 represents the road centerline drawn using the road level data; further, as can be seen from the separation points on the plurality of thin lines 23 in fig. 2, the lane-level data at this time includes at least two lane-level data subsets according to the division of the data acquisition length units. In addition, fig. 2 is taken as an example, and the lane dividing lines are all represented by straight lines, but should not be construed as being specific limitation to the embodiments of the present application, and the lane dividing lines may also be represented by broken lines in the process of mapping according to the actual situation of the road.

According to the technical scheme, the road level data of the target road is described from the road level precision and the lane level data of the target road is described from the lane line level precision are comprehensively utilized, the target road element of the target road on the electronic map is drawn, compared with the situation that the road element is drawn according to the road level data alone, the problem that the display precision of map information is lower is solved, the optimized map drawing scheme is provided, the effect of simultaneously compatible high-precision map data and non-high-precision map data is achieved, the display of finer road elements is achieved, the optimization of the map display effect is achieved, and the real lane level navigation is facilitated.

Fig. 3 is a flowchart of another mapping method disclosed in the embodiment of the present application, which is further optimized and expanded based on the above technical solution, and may be combined with the above various alternative embodiments. As shown in fig. 3, the method may include:

s201, acquiring road level data and lane level data of a target road; the road level data is used for describing the target road from the road level precision, and the lane level data is used for describing the target road from the lane line level precision.

S202, determining an overlapping range and a non-overlapping range of the road-level data and the lane-level data in the road length direction.

The coverage of the road-level data and the lane-level data in the road length direction can be determined by analyzing the respective coordinate starting points and the coordinate ending points of the road-level data and the lane-level data. After the coverage area of the road-level data and the lane-level data in the road length direction is determined, the overlapping range and the non-overlapping range of the road-level data and the lane-level data in the road length direction can be analyzed and compared. Generally, the coverage of the lane-level data is smaller than that of the road-level data, and therefore, the overlapping range of the two in the road length direction, that is, the coverage of the lane-level data.

And S203, splicing the replacement road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range to obtain the target road elements of the target road on the map.

Wherein, the replacement road element, namely the fine road element is drawn by using lane-level data corresponding to the overlapping range; the candidate road elements, i.e. the aforementioned basic road elements, are drawn using road level data corresponding to non-overlapping ranges. The target road elements that can be obtained through the splicing process in the embodiment of the application include, but are not limited to, road boundary lines and road surfaces. And splicing the replaced road elements and the candidate road elements which participate in the splicing process according to the starting position and the ending position of the road range corresponding to the elements, thereby ensuring the integrity, connectivity and accuracy of the obtained target road elements relative to the target road.

Further, before performing the splicing process on the replaced road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range, the method disclosed in the embodiment of the present application may further include:

sequencing at least two lane dividing lines corresponding to the lane-level data, and determining lane dividing lines at two side edges of the road;

and drawing the replacement road element by using the lane dividing lines at the two side edges of the road.

For example, the position of each lane dividing line can be ordered by analyzing and comparing the position coordinate components of at least two lane dividing lines corresponding to the lane-level data in the direction perpendicular to the road, and determining the position relation between the lane dividing lines; the position ordering of the lane dividing lines can be realized by constructing a reference line and analyzing the position relation between the lane dividing lines and the reference line, wherein the reference line can be any one lane dividing line or can be other straight lines except the lane dividing line constructed for realizing the ordering of the lane dividing lines, and the embodiment of the application is not particularly limited. Of course, other schemes for sorting the lane dividing lines may be used, and are also within the scope of the embodiments of the present application. By accurately sequencing the lane dividing lines in the process of drawing the replaced road elements, the machine can accurately identify the lane dividing lines at the road edge, and further, the rationality and the accuracy of drawing the map elements are ensured.

If the lane-level data of the target road includes at least two lane-level data subsets (groups), ordering at least two lane dividing lines corresponding to the lane-level data, and determining the lane dividing lines at two side edges of the road, including: firstly, sorting lane dividing lines corresponding to each lane-level data subset to obtain candidate data subsets; and then, according to the starting position or the ending position of the road corresponding to the lane-level data subsets, sequencing and splicing at least two candidate data subsets along the length direction of the road, namely, firstly sequencing data in the sets and then sequencing and splicing data among the sets, so as to obtain a lane dividing line which is complete in the corresponding road direction and has a determined position relationship, and further accurately determining the lane dividing lines at the edges of the two sides of the road.

The lane dividing lines at the two side edges of the road refer to the lane dividing line closest to the actual road edge in the actual road. Taking the target road element as a road boundary line as an example, lane dividing lines at two side edges of a road can be directly used as the road boundary line and drawn; and drawing two preset straight lines to the outside direction of the road based on the lane dividing lines at the two side edges of the road respectively to serve as road boundary lines, wherein the preset straight lines can be parallel to the lane dividing lines at the two side edges of the road, and a set distance is kept, and the specific value of the distance can be set adaptively. Further, after the road boundary line is determined, the road surface covering each lane dividing line on the road may be drawn based on the road boundary line, for example, a perpendicular line may be drawn to another road boundary line based on two end points of any one of the road boundary lines, a closed area composed of the road boundary line and the perpendicular line is a road surface area, and then a preset filling texture may be selected to fill the road surface area, thereby drawing the road surface on the map.

Further, the method disclosed in the embodiment of the application further comprises: and drawing candidate road elements by using the road data. Similarly, taking the target road element as the road boundary line as an example, the road boundary of the target road may be determined and drawn by using the road width and the road level data in the road accessory information corresponding to the road level data, and then the road surface may be drawn by using the determined road boundary line.

According to the technical scheme of the embodiment of the application, the target road element of the target road on the map is obtained through the splicing processing between the replacement road element drawn based on the lane-level data and the candidate road element drawn based on the road-level data, compared with the situation that the road element is drawn only according to the road-level data, the problem of lower display precision of map information is solved, an optimized map drawing scheme is provided, the precision and the accuracy of map element display are improved as a whole, the optimization of map display effect is realized, and the real lane-level navigation is facilitated; meanwhile, the connectivity of the road network map is ensured through the splicing processing of the road elements, and the problem of low coverage rate of the high-precision map data at present can be effectively compatible.

On the basis of the above technical solution, optionally, performing a splicing process on the replaced road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range to obtain a target road element of the target road on the map, where the method includes:

determining splicing endpoints positioned on the boundaries of two sides of the alternative road element corresponding to the overlapping range and the boundaries of two sides of the candidate road element corresponding to the non-overlapping range;

determining reference boundary points on the boundaries of two sides of the candidate road elements corresponding to the non-overlapping range; for example, on the boundaries of two sides of the candidate road element corresponding to the non-overlapping range, the points with the preset distance from the splicing end point can be respectively determined as the reference boundary points, and the preset distance can be flexibly set;

respectively utilizing a splicing endpoint and a reference boundary point which are positioned at the same side boundary to fit to obtain a boundary splicing curve between the alternative road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range; any available fitting method may be used for implementing curve fitting, and the embodiments of the present application are not specifically limited;

and connecting the replacement road element corresponding to the overlapping range with the candidate road element corresponding to the non-overlapping range through the boundary splicing curve to obtain the target road element of the target road on the map.

Fig. 4 is a schematic diagram of a fitting process of boundary splicing curves provided according to an embodiment of the present application, but should not be construed as a specific limitation of the embodiment of the present application. As shown in fig. 4, the boundary L is located at both sides of the alternate road element corresponding to the overlapping range ₁ And L ^′ ₁ The splicing end points on the road element are point B and point C, and the two side boundaries L of the candidate road element corresponding to the non-overlapping range are positioned ₂ And L ^′ ₂ The splicing end points on the two-dimensional image display device are a point M and a point P; on the boundaries of two sides of the candidate road element corresponding to the non-overlapping range, the determined reference boundary points are a point N and a point O; the point B, the point M and the point N belong to points positioned at the boundary of the same side, and the three points can be used as control points in the curve fitting process to fit a boundary splicing curve S of the side ₁ The method comprises the steps of carrying out a first treatment on the surface of the The points C, P and O belong to points located at the same side boundary, and can be divided into threeThe points are used as control points in the curve fitting process, and the boundary splicing curve S of the side is fitted ₂ . The preset distance between the reference boundary point N and the splicing endpoint M and the preset distance between the reference boundary point O and the splicing endpoint P on the boundaries on both sides of the candidate road element corresponding to the non-overlapping range may be flexibly set, which is not specifically limited in the embodiment of the present application.

Continuing with FIG. 4, the reference boundary points are point N and point O may also be determined as follows: firstly, determining a road center line S by utilizing road grade data corresponding to non-overlapping range ₃ Then determining a splicing center point Z on a corresponding road center line in the element splicing region, and making a straight line Y with a preset length to the candidate road element region based on the splicing center point Z ₂ And based on the straight line Y ₂ End point of (c) toward boundary L ₂ And L ^′ ₂ Respectively making vertical lines, wherein the foot drop is a reference boundary point N and a point O, and the straight line Y ₂ The specific value of (3) can be flexibly set. Similarly, a straight line Y with a preset length can be made to the area of the replaced road element based on the splicing center point Z ₁ And based on the straight line Y ₁ End point of (c) toward boundary L ₁ And L ^′ ₁ Respectively making vertical lines and taking the vertical feet as reference boundary points A and D, wherein a straight line Y ₁ The specific value of (3) can be flexibly set. The reference boundary point a and the point D may also participate in the fitting process of the boundary splicing curve, for example, the reference boundary point a and the point B, the point M and the point N jointly control the fitting curve trend at the point B, and the reference boundary point D and the point C, the point P and the point O jointly control the fitting curve trend at the point C.

Compared with the situation that the splicing is directly carried out through the connecting lines between the splicing endpoints, the smooth splicing between the replacement road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range is realized through fitting the boundary splicing curve, the display effect of the map elements is optimized, and smoother splicing transition can be realized between road surfaces and road boundary lines.

As a preferred example, fitting to obtain a boundary splicing curve between the alternative road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range by using a splicing end point and a reference boundary point located at the same side boundary, respectively, includes:

determining smooth reference points of the two side boundaries according to splicing end points positioned on the two side boundaries of the alternative road elements corresponding to the overlapping range respectively;

and fitting to obtain a boundary splicing curve between the alternative road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range based on a Bezier curve smoothing algorithm by using a splicing endpoint, a reference boundary point and a smoothing reference point which are positioned on the same side boundary.

Fig. 5 is a schematic diagram of another fitting process of the boundary splicing curve according to the embodiment of the present application. As shown in FIG. 5, at the boundary L ₁ And L ^′ ₁ The smooth reference points R and the points Q are determined on two sides, the specific positions of the smooth reference points can be adaptively set on the basis of ensuring the smooth effect, and in the curve fitting process, the positions of the smooth reference points can be flexibly adjusted according to the smooth processing requirements. Based on Bezier curve smoothing algorithm, using point B, point R, point M and point N to fit to obtain boundary splicing curve S ₁ Fitting by using the point C, the point Q, the point P and the point O to obtain a boundary splicing curve S ₂ 。

Further, the boundary splicing curves are tangent to the alternative road element boundary at splicing end points on the alternative road element boundary corresponding to the overlapping range, and tangent to the candidate road element boundary at splicing end points on the candidate road element boundary corresponding to the non-overlapping range. I.e. as shown in fig. 5, boundary splicing curve S ₁ Tangent to line segment AB at point B and tangent to line segment MN at point N; boundary splicing curve S ₂ Tangent to line segment DC at point C and tangent to line segment PO at point O.

Fig. 6 is a flowchart of another mapping method disclosed in the embodiment of the present application, which is further optimized and expanded based on the above technical solution, and may be combined with the above various alternative embodiments. As shown in fig. 6, the method may include:

s301, acquiring road level data and lane level data of a target road; the road level data is used for describing the target road from the road level precision, and the lane level data is used for describing the target road from the lane line level precision.

S302, determining an overlapping range and a non-overlapping range of the road-level data and the lane-level data in the road length direction.

S303, constructing vector data between any two lane dividing lines corresponding to the lane data.

The vector data is used for determining the position relation between any two lane dividing lines.

S304, determining the position relation between any two lane dividing lines by using vector data to obtain the lane dividing lines at the two side edges of the road.

For example, the vector data may include a reference vector and a position vector, one of any two lane dividing lines may be used as a reference line, the reference vector may be determined based on the vector direction of the lane dividing line, then a reference point may be selected from the other of the any two lane dividing lines, the position vector of the other lane dividing line may be constructed based on the reference point and the reference vector, and the position relationship between the any two lane dividing lines may be determined by a cross product operation between the reference vector and the position vector. And by repeating the above process for a plurality of times, sequencing all lane dividing lines corresponding to the lane data is realized, and lane dividing lines at the edges of two sides of the road are obtained. In the process of executing lane dividing line sorting for multiple times, the directions of the reference vectors are kept consistent, so that the accuracy of sorting results is ensured.

S305, dividing lane dividing lines at two side edges of the road according to the intersection distribution positions on the target road.

The intersection distribution position can be determined simultaneously in the process of collecting and manufacturing lane-level data. By reasonably dividing the lane dividing lines at the two side edges of the road according to the road junction distribution positions, the replacement road elements drawn based on the two lane dividing lines can be more attached to the actual condition of the road, and the actual information of the road is truly restored. For example, road surfaces, road borderlines, where there is intersection distribution, need to be interrupted reasonably, rather than neglecting intersection distribution, the road surfaces are drawn entirely with a closed area, and the road borderlines are drawn entirely with a coherent line.

Optionally, the dividing the lane dividing line at two side edges of the road according to the intersection distribution position on the target road includes: dividing the lane dividing lines at the two side edges of the road by making a vertical line to the lane dividing lines at the two side edges of the road based on the end points of the road sections in the road level data corresponding to the overlapping range; wherein the end point of the road segment is determined according to the intersection distribution position (or called the road bifurcation point) on the target road. Generally, in the process of collecting road level data, the road level data can be collected in sections according to the road junction distribution condition on the actual road, so that the collected data can be attached to the actual information of the road, and the accuracy of the drawn road network data is ensured.

S306, drawing a replacement road element by using the segmented lane segmentation line segments.

Specifically, the segmented lane segments can be utilized to draw the sub-elements of the replacement road, and then the sub-elements of each replacement road are combined according to the trend of the road to obtain the complete replacement road element of the target road. For example, a plurality of road surface sub-areas are drawn by using the lane segmentation line segments obtained by segmentation, and then the road surface sub-areas are combined to obtain a complete road surface corresponding to the target road.

S307, drawing candidate road elements by using the road level data.

It should be noted that, there is no strict execution sequence limitation between operations S302, S303-S306, and S307, for example, after determining the overlapping range and the non-overlapping range of the road-level data and the lane-level data in the road length direction, the lane-level data and the road-level data may be used to draw the replacement road element and the candidate road element, respectively; the replacement road element and the candidate road element may also be drawn before determining the overlapping range and the non-overlapping range of the road-level data and the lane-level data in the road length direction, at this time, the corresponding road element may be called according to the lane-level data and the road-level data, and the execution sequence shown in fig. 6 should not be understood to specifically define the embodiment of the present application.

And S308, splicing the replacement road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range to obtain the target road elements of the target road on the map.

According to the technical scheme of the embodiment of the application, the target road element of the target road on the map is obtained through the splicing processing between the replacement road element drawn based on the lane-level data and the candidate road element drawn based on the road-level data, compared with the situation that the road element is drawn only according to the road-level data, the problem that the display precision of map information is low is solved, the optimized map drawing scheme is provided, the display precision and accuracy of the map element are improved as a whole, the optimization of the map display effect is achieved, and the real lane-level navigation is facilitated.

Fig. 7 is a flowchart of another mapping method disclosed in the embodiment of the present application, which is further optimized and expanded based on the above technical solution, and may be combined with the above various alternative embodiments. As shown in fig. 7, the method may include:

s401, acquiring road level data and lane level data of a target road; the road level data is used for describing the target road from the road level precision, and the lane level data is used for describing the target road from the lane line level precision.

S402, drawing target road elements of the target road on the map by using the road-level data and the lane-level data.

Wherein the target road elements include a road boundary line and a road surface.

S403, determining the road center line of the uplink and downlink separated road by using the lane dividing line corresponding to the uplink road and the lane dividing line corresponding to the downlink road in the lane-level data.

In the embodiment of the application, the target road includes an uplink and downlink separated road. For example, lane dividing lines corresponding to the uplink road in the target lane-level data can be utilized, lane dividing lines at two side edges of the road are determined through lane dividing line arrangement, and then uplink road boundary lines are drawn; determining lane dividing lines at two side edges of a road by using lane dividing lines corresponding to the downlink road in the target lane level data and arranging lines through the lane dividing lines, and then drawing a downlink road boundary line; the road center line of the separated road is then determined by the boundary line of the upward road and the boundary line of the downward road, preferably by the adjacent boundary line inside the separated road.

S404, determining a preset number of identification points on a road center line, and based on the identification points, making a vertical line to a lane dividing line of an uplink road and making a vertical line to a lane dividing line of a downlink road to obtain a plurality of vertical points.

S405, in the uplink road and the downlink road respectively, taking a line segment between any two adjacent vertical points as a lane diversion mark line between lane dividing lines to which the vertical points belong.

S406, adding a preset direction symbol on the lane diversion mark line, rotating the lane diversion mark line by a preset angle, and drawing to obtain a lane diversion mark of the uplink and downlink separated road; the lane diversion mark points to the road driving direction.

The drawing process of the lane guide mark in the embodiment of the present application will be exemplarily described with reference to fig. 8 and 9. As shown in fig. 8, a straight line L shown in the drawing represents a road center line of the up-and-down road, a straight line on the left side of the straight line L represents a plurality of lane dividing lines in the up-road, and an arrow on the lane dividing line is used to represent a traveling direction of the up-road; the straight line on the right side of the straight line L represents a plurality of lane dividing lines in the downstream road, and the arrow on the lane dividing line is also used to represent the traveling direction of the downstream road. A preset number of identification points O are determined on the road centerline L, and fig. 8 shows only one identification point as an example. Based on the marking points, perpendicular lines are respectively drawn on the lane dividing lines in the uplink road and the downlink road, such as the perpendicular points A1, A2, A3, A4, A5, A6, A7 and A8 shown in fig. 8, and then line segments between adjacent perpendicular points are used as lane guiding marking lines on corresponding lanes, wherein the guiding marking lines are used for representing the characteristics of the length, the basic line shape and the like of the lane guiding marking, namely, the main body of the final lane guiding marking can be drawn based on the lane guiding marking lines. Specifically, a preset direction symbol consistent with the road running direction can be added on each lane diversion mark line, a preset angle is rotated based on the central position of the lane diversion mark line, the rotated lane diversion mark line is parallel to the adjacent lane dividing line, finally, the lane diversion line carrying the direction symbol is subjected to graphic editing processing according to the width or occupied area of the preset lane diversion mark, for example, the position of the lane diversion line can be used as the central axis position of the main body of the final lane diversion mark, and the lane diversion mark is drawn. Fig. 9 shows, as an example, a lane guide mark 91 on each lane in the up-road and the down-road. The effect of the lane guide identifier shown in fig. 9 is only taken as an example, and should not be construed as a specific limitation of the embodiments of the present application. In addition, in the process of mapping, different filling textures or filling colors can be adopted to fill the lane diversion marks.

According to the technical scheme, the target road element of the target road on the map is drawn by comprehensively utilizing the lane-level data and the road-level data, compared with the situation that the road element is drawn according to the road-level data only, the problem that the display accuracy of map information is low is solved, the optimized map drawing scheme is provided, the convenient and efficient lane diversion identification drawing scheme aiming at the high-accuracy map is provided, the accuracy and the accuracy of map element display are improved as a whole, the optimization of the map display effect is realized, and the real lane-level navigation is realized.

Fig. 10 is a flowchart of another mapping method disclosed in the embodiment of the present application, which is further optimized and expanded based on the above technical solution, and may be combined with the above various alternative embodiments. As shown in fig. 10, the method may include:

s501, acquiring road level data and lane level data of a target road; the road level data is used for describing the target road from the road level precision, and the lane level data is used for describing the target road from the lane line level precision.

S502, drawing a target road element of a target road on a map by using the road-level data and the lane-level data.

S503, determining a diversion area by using diversion face description information and lane-level data of the target road.

The guide surface description information of the target road includes a positional relationship between the guide surface and the target road, for example, the guide surface is located on the left side or the right side of the target road, and the position coordinates of the area where the guide surface is located, the area of the guide surface area, and the associated road information forming the guide surface. For example, the position coordinates in the guide surface description information and the position coordinates of the lane dividing line in the lane-level data may be used to determine the lane line dividing line constituting the guide surface, and then the guide area may be determined in combination with the area size of the guide surface area. In addition, the related roads forming the road diversion surface can be determined by utilizing the diversion surface description information; for each road in the associated roads, determining lane dividing lines positioned at two side edges of the road on each road by using lane-level data; and determining the diversion area based on the intersected lane dividing lines in the associated road.

S504, determining an external geometric figure of the diversion area, taking the shape of the external geometric figure as a tiled filling texture of the diversion area, and drawing to obtain a diversion surface.

After the flow guiding area is determined, the external geometric figure of the flow guiding area can be determined based on the geometric figure processing thought, then the shape of the external geometric figure is used as a filling texture, for example, the minimum external square can be optimized, the square filling texture is more beneficial to keeping the consistency of the filling effect, the flow guiding area with any shape can be flexibly adapted, and the flow guiding area can be seamlessly connected into a whole at any area position. In the specific filling process, the external geometric figure can be reduced according to a certain proportion, and then the external geometric figure is rotated for proper angle to fill in the diversion area. Fig. 11A is a schematic view showing an effect of the flow guiding surface, in which the shape of the filling texture of the flow guiding surface 12 is the smallest circumscribed square of the flow guiding area, and the flow guiding area is filled after the flow guiding surface is rotated 45 degrees clockwise.

According to the technical scheme of the embodiment of the application, the target road element of the target road on the map is drawn by comprehensively utilizing the lane-level data and the road-level data, compared with the situation that the road element is drawn according to the road-level data only, the problem of lower display precision of map information is solved, the optimized map drawing scheme is provided, the diversion surface drawing scheme with better display effect is provided, the precision and the accuracy of map element display are improved as a whole, the optimization of map display effect is realized, and the real lane-level navigation is facilitated; and moreover, the filling texture is constructed to carry out tiled filling on the flow guiding area, so that the drawing efficiency of the flow guiding surface can be improved, meanwhile, the reasonable design of the filling texture is also beneficial to keeping the consistency of the filling effect, the flow guiding area with any shape can be flexibly adapted, and the attractiveness of the display of map elements is improved.

Of course, the filling texture within the flow-guiding region may also comprise other useful shapes, e.g. consisting of a plurality of identification lines pointing towards the inside of the filling region, etc., such as the display effect shown in fig. 11B.

Fig. 12 is a schematic structural diagram of a map drawing apparatus according to an embodiment of the present application, which can be applied to a case of how to use high-precision map data for drawing an electronic map when the high-precision map data is acquired. The device disclosed by the embodiment of the application can be realized by adopting software and/or hardware, and can be integrated on any electronic equipment with computing capability, such as a vehicle-mounted terminal, a mobile terminal, a tablet personal computer and the like.

As shown in fig. 12, the map drawing apparatus 600 disclosed in the embodiment of the present application may include a data acquisition module 601 and an element drawing module 602, wherein:

a data acquisition module 601, configured to acquire road level data and lane level data of a target road; the road level data is used for describing the target road from the road level precision, and the lane level data is used for describing the target road from the lane line level precision;

the element drawing module 602 is configured to draw a target road element of a target road on a map using the road-level data and the lane-level data.

Optionally, the element drawing module 602 includes:

a range determining unit configured to determine an overlapping range and a non-overlapping range of the road-level data and the lane-level data in a road length direction;

the element splicing unit is used for carrying out splicing processing on the replacement road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range to obtain target road elements of the target road on the map;

the candidate road elements are drawn by using road level data corresponding to a non-overlapping range.

Optionally, the element stitching unit includes:

a splicing endpoint determining subunit, configured to determine splicing endpoints located on two side boundaries of the alternative road element corresponding to the overlapping range and on two side boundaries of the candidate road element corresponding to the non-overlapping range;

a reference boundary point determining subunit, configured to determine a reference boundary point on two side boundaries of the candidate road element corresponding to the non-overlapping range;

the splicing curve fitting subunit is used for respectively utilizing splicing end points and reference boundary points which are positioned at the same side boundary to fit to obtain a boundary splicing curve between the alternative road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range;

And the element drawing subunit is used for connecting the replacement road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range through the boundary splicing curve to obtain the target road element of the target road on the map.

Optionally, the stitching curve fitting subunit includes:

the smooth reference point determining subunit is used for determining smooth reference points of the two side boundaries respectively according to splicing end points positioned on the two side boundaries of the replacement road element corresponding to the overlapping range;

and the Bezier curve smoothing subunit is used for fitting and obtaining a boundary splicing curve between the alternative road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range based on a Bezier curve smoothing processing algorithm by respectively utilizing the splicing end points, the reference boundary points and the smoothing reference points which are positioned on the same side boundary.

Optionally, the element drawing module 602 further includes:

the lane dividing line sorting unit is used for sorting at least two lane dividing lines corresponding to the lane data before the element splicing unit performs the operation of splicing the alternative road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range, and determining the lane dividing lines at the edges of the two sides of the road;

And the replacement road element drawing unit is used for drawing the replacement road element by using the lane dividing lines at the two side edges of the road.

Optionally, the lane dividing line sorting unit includes:

the vector data construction subunit is used for constructing vector data between any two lane dividing lines corresponding to the lane data;

and the position relation determining subunit is used for determining the position relation between any two lane dividing lines by using the vector data to obtain the lane dividing lines at the two side edges of the road.

Optionally, the replacement road element drawing unit includes:

the lane dividing line dividing subunit is used for dividing lane dividing lines at two side edges of a road according to the intersection distribution position on the target road;

and the replacement road element drawing subunit is used for drawing the replacement road element by utilizing the segmented lane segmentation line segments.

Optionally, the lane splitting line splitting subunit is specifically configured to:

dividing the lane dividing lines at the two side edges of the road by making a vertical line to the lane dividing lines at the two side edges of the road based on the end points of the road sections in the road level data corresponding to the overlapping range; the end point of the road section is determined according to the intersection distribution position on the target road.

Optionally, the data acquisition module 601 is specifically configured to:

and acquiring the road grade data of the target road, and acquiring the lane grade data of the target road according to the mapping relation between the road grade data and the lane grade data.

Optionally, the target road element includes a road boundary line and a road surface.

Optionally, the target link includes an uplink/downlink separation link, and correspondingly, the element drawing module 602 further includes:

the road center line determining unit is used for determining the road center line of the uplink and downlink separated road by utilizing the lane dividing line corresponding to the uplink road and the lane dividing line corresponding to the downlink road in the lane-level data;

the lane dividing line dividing unit is used for determining a preset number of identification points on a road center line, and based on the identification points, making a vertical line to the lane dividing line of the uplink road and making a vertical line to the lane dividing line of the downlink road to obtain a plurality of vertical points;

the flow guiding mark line determining unit is used for respectively taking a line segment between any two adjacent vertical points as a lane flow guiding mark line between lane dividing lines to which the vertical points belong in an uplink road and a downlink road;

the flow guiding mark drawing unit is used for adding a preset direction symbol on the lane flow guiding mark line, rotating the lane flow guiding mark line by a preset angle, and drawing to obtain lane flow guiding marks of the uplink and downlink separated roads; the lane diversion mark points to the road driving direction.

Optionally, the target road includes a road with a diversion surface on a road side, and correspondingly, the element drawing module 602 further includes:

the diversion area determining unit is used for determining a diversion area by utilizing diversion face description information and lane-level data of the target road;

and the flow guiding region drawing unit is used for determining the external geometric figure of the flow guiding region, taking the shape of the external geometric figure as the tiled filling texture of the flow guiding region, and drawing to obtain a flow guiding surface.

The map drawing device 600 disclosed in the embodiment of the present application may execute any of the map drawing methods disclosed in the embodiments of the present application, and has the corresponding functional modules and beneficial effects of the execution method. Reference may be made to the description of any method embodiment herein for details of the device embodiment.

According to embodiments of the present application, an electronic device and a readable storage medium are also provided.

As shown in fig. 13, fig. 13 is a block diagram of an electronic device for implementing the mapping method in the embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the embodiments of the present application described and/or claimed herein.

As shown in fig. 13, the electronic device includes: one or more processors 701, memory 702, and interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions executing within the electronic device, including instructions stored in or on memory to display graphical information of a graphical user interface (Graphical User Interface, GUI) on an external input/output device, such as a display device coupled to the interface. In other embodiments, multiple processors and/or multiple buses may be used, if desired, along with multiple memories and multiple memories. Also, multiple electronic devices may be connected, each providing a portion of the necessary operations, e.g., as a server array, a set of blade servers, or a multiprocessor system. One processor 701 is illustrated in fig. 13.

Memory 702 is a non-transitory computer-readable storage medium provided by embodiments of the present application. The memory stores instructions executable by the at least one processor to cause the at least one processor to perform the mapping methods provided by the embodiments of the present application. The non-transitory computer-readable storage medium of the embodiments of the present application stores computer instructions for causing a computer to execute the mapping method provided by the embodiments of the present application.

The memory 702 is used as a non-transitory computer readable storage medium for storing non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules corresponding to the mapping method in the embodiment of the present application, for example, the data acquisition module 601 and the element mapping module 602 shown in fig. 12. The processor 701 executes various functional applications of the electronic device and data processing, i.e., implements the mapping method in the above-described method embodiments, by running non-transitory software programs, instructions, and modules stored in the memory 702.

Memory 702 may include a storage program area that may store an operating system, at least one application program required for functionality, and a storage data area; the storage data area may store data created according to the use of the electronic device, etc. In addition, the memory 702 may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 702 optionally includes memory remotely located relative to the processor 701, which may be connected via a network to the electronic device used to implement the mapping method in this embodiment. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device for implementing the mapping method in the embodiment of the application may further include: an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703 and the output device 704 may be connected by a bus or otherwise, in fig. 13 by way of example.

The input device 703 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic device used to implement the mapping method of the present embodiment, such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointer stick, one or more mouse buttons, a track ball, a joystick, etc. The output means 704 may include a display device, auxiliary lighting means, such as light emitting diodes (Light Emitting Diode, LEDs), tactile feedback means, and the like; haptic feedback devices such as vibration motors and the like. The display device may include, but is not limited to, a liquid crystal display (Liquid Crystal Display, LCD), an LED display, and a plasma display. In some implementations, the display device may be a touch screen.

Various implementations of the systems and techniques described here can be implemented in digital electronic circuitry, integrated circuitry, application specific integrated circuits (Application Specific Integrated Circuit, ASIC), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

These computing programs, also referred to as programs, software applications, or code, include machine instructions for a programmable processor, and may be implemented in a high-level procedural and/or object-oriented programming language, and/or in assembly/machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device for providing machine instructions and/or data to a programmable processor, e.g., magnetic discs, optical disks, memory, programmable logic devices (Programmable Logic Device, PLD), including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

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

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

The computer system may include a client and a server. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present application may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions disclosed in the present application can be achieved, and are not limited herein.

The above embodiments do not limit the scope of the application. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application are intended to be included within the scope of the present application.

Claims

1. A method of mapping, comprising:

Drawing a target road element of the target road on a map by utilizing the road level data and the lane level data;

the drawing the target road element of the target road on the map by using the road-level data and the lane-level data comprises the following steps:

determining an overlapping range and a non-overlapping range of the road level data and the lane level data in a road length direction;

splicing the replacement road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range to obtain target road elements of the target road on the map;

the candidate road elements are drawn by using the road level data corresponding to the non-overlapping range;

the step of performing a splicing process on the replaced road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range to obtain a target road element of the target road on the map, includes:

determining splicing endpoints positioned on the boundaries of two sides of the replaced road element corresponding to the overlapping range and the boundaries of two sides of the candidate road element corresponding to the non-overlapping range;

Determining reference boundary points on the boundaries of two sides of the candidate road element corresponding to the non-overlapping range;

respectively utilizing the splicing end points and the reference boundary points which are positioned on the same side boundary to obtain a boundary splicing curve between the alternative road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range in a fitting way;

2. The method of claim 1, wherein the fitting, using the splice endpoint and the reference boundary point at the same side boundary, respectively, to obtain a boundary splice curve between the alternate road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range includes:

determining smooth reference points of the two side boundaries according to splicing end points positioned on the two side boundaries of the alternative road element corresponding to the overlapping range;

and fitting the boundary splicing curve between the replacement road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range based on a Bezier curve smoothing algorithm by using the splicing end points, the reference boundary points and the smoothing reference points which are positioned on the same side boundary.

3. The method of claim 1, wherein prior to stitching the alternate road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range, the method further comprises:

sequencing at least two lane dividing lines corresponding to the lane-level data, and determining lane dividing lines at two side edges of a road;

4. The method of claim 3, wherein ordering at least two lane-dividing lines corresponding to the lane-level data, determining lane-dividing lines at both side edges of a road, comprises:

constructing vector data between any two lane dividing lines corresponding to the lane-level data;

and determining the position relation between any two lane dividing lines by using the vector data to obtain the lane dividing lines at the two side edges of the road.

5. A method according to claim 3, wherein drawing the alternative road element using the lane splitting line at both side edges of the road comprises:

dividing the lane dividing lines at the edges of the two sides of the road according to the intersection distribution positions on the target road;

And drawing the replacement road element by using the divided lane dividing line segments.

6. The method of claim 5, wherein dividing the lane dividing line at both side edges of the road according to the intersection distribution position on the target road comprises:

dividing the lane dividing lines at the two side edges of the road by making a perpendicular to the lane dividing lines at the two side edges of the road based on the end points of the road sections in the road data corresponding to the overlapping range; the end point of the road section is determined according to the intersection distribution position on the target road.

7. The method of claim 1, wherein the acquiring road level data and lane level data of the target road comprises:

8. The method of any of claims 1-7, wherein the target road element comprises a road boundary line and a road surface.

9. The method of claim 1, wherein the target link comprises an up-down link, and the method further comprises, in response:

Determining a road center line of the uplink and downlink separated road by using a lane dividing line corresponding to the uplink road and a lane dividing line corresponding to the downlink road in the lane-level data;

determining a preset number of identification points on the road center line, and based on the identification points, making a vertical line to the lane dividing line of the uplink road and making a vertical line to the lane dividing line of the downlink road to obtain a plurality of vertical points;

in the uplink road and the downlink road respectively, taking a line segment between any two adjacent vertical points as a lane diversion mark line between lane dividing lines to which the vertical points belong;

adding a preset direction symbol on the lane diversion mark line, rotating the lane diversion mark line by a preset angle, and drawing to obtain a lane diversion mark of the uplink and downlink separated road; the lane diversion mark points to the driving direction of the road.

10. The method of claim 1, wherein the target link comprises a link with a road side having a diversion surface, and the method further comprises, correspondingly:

determining a diversion area by using the diversion face description information of the target road and the lane-level data;

determining an external geometric figure of the flow guiding area, taking the shape of the external geometric figure as a tiled filling texture of the flow guiding area, and drawing to obtain the flow guiding surface.

11. A mapping apparatus comprising:

the element drawing module is used for drawing target road elements of the target road on a map by utilizing the road level data and the lane level data;

the element drawing module includes:

the element splicing unit is used for carrying out splicing processing on the replacement road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range to obtain a target road element of the target road on the map;

the element splicing unit includes:

A splicing endpoint determining subunit, configured to determine splicing endpoints located on boundaries on both sides of the replaced road element corresponding to the overlapping range and on boundaries on both sides of the candidate road element corresponding to the non-overlapping range;

a stitching curve fitting subunit, configured to fit a boundary stitching curve between the replaced road element corresponding to the overlapping range and the candidate road element corresponding to the non-overlapping range by using the stitching endpoint and the reference boundary point that are located at the same side boundary respectively;

12. The apparatus of claim 11, wherein the stitching curve fitting subunit comprises:

a smooth reference point determining subunit, configured to determine smooth reference points of two side boundaries according to splice end points located on two side boundaries of the alternative road element corresponding to the overlapping range, respectively;

And the Bezier curve smoothing subunit is used for respectively utilizing the splicing end points, the reference boundary points and the smoothing reference points which are positioned at the same side boundary to obtain the boundary splicing curve between the replaced road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range by fitting based on a Bezier curve smoothing processing algorithm.

13. The apparatus of claim 11, wherein the element rendering module further comprises:

the element splicing unit is used for carrying out splicing processing on the replaced road elements corresponding to the overlapping range and the candidate road elements corresponding to the non-overlapping range, and sequencing at least two lane dividing lines corresponding to the lane-level data to determine lane dividing lines at two side edges of the road;

and the replacement road element drawing unit is used for drawing the replacement road element by utilizing the lane dividing lines at the two side edges of the road.

14. The apparatus of claim 13, wherein the lane-dividing-line ordering unit comprises:

the vector data construction subunit is used for constructing vector data between any two lane dividing lines corresponding to the lane-level data;

And the position relation determining subunit is used for determining the position relation between any two lane dividing lines by utilizing the vector data to obtain the lane dividing lines at the two side edges of the road.

15. The apparatus of claim 13, wherein the alternate road element drawing unit comprises:

the lane dividing line dividing subunit is used for dividing the lane dividing lines at the edges of the two sides of the road according to the intersection distribution positions on the target road;

16. The apparatus of claim 15, wherein the lane-dividing-line splitting subunit is specifically configured to:

17. The apparatus of claim 16, wherein the data acquisition module is specifically configured to:

18. The apparatus of any of claims 11-17, wherein the target road element comprises a road boundary line and a road surface.

19. The apparatus of claim 11, wherein the target link comprises an up-down link, and the element drawing module further comprises:

the lane dividing line dividing unit is used for determining a preset number of identification points on the road center line, and based on the identification points, making a vertical line to the lane dividing line of the uplink road and making a vertical line to the lane dividing line of the downlink road to obtain a plurality of vertical points;

the flow guiding identification line determining unit is used for respectively taking a line segment between any two adjacent vertical points as a lane flow guiding identification line between lane dividing lines to which the vertical points belong in the uplink road and the downlink road;

The flow guiding mark drawing unit is used for adding a preset direction symbol on the lane flow guiding mark line, rotating the lane flow guiding mark line by a preset angle, and drawing to obtain the lane flow guiding mark of the uplink and downlink separated road; the lane diversion mark points to the driving direction of the road.

20. The apparatus of claim 11, wherein the target link comprises a link with a road side having a guide surface, and the element drawing module further comprises:

the diversion area determining unit is used for determining a diversion area by utilizing diversion face description information of the target road and the lane-level data;

and the flow guiding region drawing unit is used for determining the external geometric figure of the flow guiding region, taking the shape of the external geometric figure as the tiled filling texture of the flow guiding region, and drawing to obtain the flow guiding surface.

21. An electronic device, comprising:

at least one processor; and

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

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the mapping method of any one of claims 1-10.

22. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the mapping method of any one of claims 1-10.