CN115082633A - Electronic map generation method and device and electronic equipment - Google Patents
Electronic map generation method and device and electronic equipment Download PDFInfo
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Abstract
The present disclosure provides an electronic map generation method, an electronic map generation device, and an electronic device, which relate to the technical field of artificial intelligence, in particular to the technical field of computer vision and automatic driving simulation in artificial intelligence, and the specific implementation scheme includes: obtaining rendering data corresponding to each element to be rendered in M elements to be rendered, wherein at least part of rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer; and rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate the electronic map.
Description
Technical Field
The present disclosure relates to the technical field of artificial intelligence, and in particular, to the technical field of computer vision and automatic driving simulation in artificial intelligence, and in particular, to a method and an apparatus for generating an electronic map, and an electronic device.
Background
Along with the continuous development of artificial intelligence technology, the electronic map is more and more widely applied in the life of people, the electronic map can be generally applied to simulation or virtual games, and the electronic map is usually built in a manual modeling mode at present.
Disclosure of Invention
The disclosure provides an electronic map generation method and device and electronic equipment.
According to a first aspect of the present disclosure, there is provided an electronic map generation method, including:
obtaining rendering data corresponding to each element to be rendered in M elements to be rendered, wherein at least part of rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer;
and rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate the electronic map.
According to a second aspect of the present disclosure, there is provided an electronic map generation apparatus including:
the device comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring rendering data corresponding to each element to be rendered in M elements to be rendered, the rendering data corresponding to the M elements to be rendered are at least partially different in precision, and M is a positive integer;
and the rendering module is used for rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate the electronic map.
According to a third aspect of the present disclosure, there is provided 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 any one of the methods of the first aspect.
According to a fourth aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing a computer to perform any one of the methods of the first aspect.
According to a fifth aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements any of the methods of the first aspect.
In the embodiment of the disclosure, the corresponding elements to be rendered can be rendered according to the rendering data corresponding to each element to be rendered to generate the electronic map, so that a manual modeling mode is not required, the efficiency of generating the electronic map is improved, and the cost of generating the electronic map is reduced.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
Drawings
Fig. 1 is a schematic flow chart of an electronic map generation method provided by an embodiment of the present disclosure;
FIG. 2a is a schematic diagram of an architecture between different generators provided by an embodiment of the present disclosure;
fig. 2b is a schematic diagram of an application scenario provided by an embodiment of the present disclosure;
fig. 2c is a schematic structural diagram of an electronic map generating apparatus provided in the embodiment of the present disclosure;
fig. 3 is a second schematic structural diagram of an electronic map generating apparatus according to the second embodiment of the disclosure;
fig. 4 is a third schematic structural diagram of an electronic map generating apparatus according to the embodiment of the present disclosure;
FIG. 5 is a schematic block diagram of an example electronic device used to implement embodiments of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Referring to fig. 1, fig. 1 is a flowchart of an electronic map generation method provided in an embodiment of the present disclosure, and as shown in fig. 1, the electronic map generation method includes the following steps:
step S101, rendering data corresponding to each element to be rendered in M elements to be rendered are obtained, the rendering data corresponding to the M elements to be rendered are at least partially different in precision, and M is a positive integer.
The M elements to be rendered can refer to the elements to be rendered in the electronic map to be built, the rendered elements obtained after the elements to be rendered are rendered can form a part of the electronic map, and the types of any two elements to be rendered in the M elements to be rendered can be different.
For example: the M elements to be rendered may include at least one of road, river, railway, building, etc. elements.
In addition, at least some of the rendering data corresponding to the M elements to be rendered have different precisions, that is, at least some of the rendering data corresponding to the M elements to be rendered have different precisions, and the source of the rendering data is not limited herein.
As an optional implementation manner, the rendering data corresponding to the M elements to be rendered may be obtained from data sources with different accuracies, so that the rendering data corresponding to the M elements to be rendered may have a wider source, and meanwhile, the accuracy requirement on the data source is also reduced, thereby reducing the generation cost of the electronic map.
For example: the data sources with different accuracies may respectively include at least one of a high-accuracy map, a standard-precision map, and a rendered map, where the accuracy of the high-accuracy map may be higher than that of the standard-precision map, and the accuracy of the standard-precision map may be higher than that of the rendered map. When the rendering data is acquired from different maps, the rendering data may be referred to as annotation data of the map.
In addition, the high-precision map has the advantage of accurate data, the fine-scale map has the advantages of wide area coverage and complete element types, and the rendering map has the advantage of wireless Mesh network (Mesh) level description of preprocessed data (which can be understood as rendering data). referring to fig. 2b, after the data of the high-precision map, the fine-scale map and the rendering map are acquired, the acquired data can be fused, and then the fused data are respectively rendered after being extracted according to different elements to be rendered.
Alternatively, the acquired data may be classified and then rendered respectively to generate an electronic map, and a specific manner is not limited herein.
For example: when the elements to be rendered comprise road elements, the high-precision map can comprise logic description and coordinate annotation of dozens of road elements, and accurate road elevation information is contained, so that the road structure and the topological structure can be accurately restored; the precise map has the main characteristics of high coverage degree and rich element types, and can provide element description of non-precise modeling requirements beyond the high-precision map road topology, such as: house buildings, green parks, rivers, lakes and the like, and the richness of static scenes can be improved; the rendering map is obtained by performing secondary processing and data abstraction on the basis of a high-precision map and a standard-precision map, the data structure of the rendering map is organized in a wireless grid network (Mesh) mode, contains geometric grids and texture coordinates, provides model-level description for complex model structures such as ramps, overpasses and piers, and can play a role in supplementing a reduction post-processing strategy of a static scene.
As another optional implementation, the rendering data corresponding to a part of the M elements to be rendered may also be obtained from the same data source, and the precision of the rendering data corresponding to the part of the M elements may be the same or different.
In this way, the rendering data corresponding to part of the elements can be acquired from the same data source, so that the requirement on the number of the data sources is reduced, and the generation cost of the electronic map can also be reduced.
As an optional implementation, the M elements to be rendered include a weather element.
In the embodiment of the disclosure, the generated electronic map can include the weather element, that is, the weather condition can be reflected on the electronic map, so that the display content of the electronic map is more diversified.
In addition, rendering data corresponding to different weather elements can be acquired for rendering, so that the generated electronic map can include various weather elements, and the electronic map can present different weather elements as required, so that the electronic map is wider in application range.
For example: when the electronic map is applied to games, the electronic map can present different weather elements according to needs, so that different use scenes can be provided, and the simulation effect of the electronic map on the scenes is enhanced.
As an optional implementation manner, the M elements to be rendered include a first element to be rendered and N second elements to be rendered, where N is a positive integer smaller than M;
the obtaining rendering data corresponding to each element to be rendered in the M elements to be rendered includes:
and acquiring rendering data corresponding to the first element to be rendered, and acquiring rendering data of the N second elements to be rendered, wherein the precision of the rendering data corresponding to the first element to be rendered is higher than that of the rendering data of the N second elements to be rendered.
The first element to be rendered and the N second elements to be rendered are different elements, and the accuracy of rendering data corresponding to the first element to be rendered is higher than the accuracy of rendering data corresponding to the N second elements to be rendered, so that the importance of the first element to be rendered in the electronic map is considered to be higher than that of the N second elements to be rendered.
Therefore, in order to ensure the accuracy and definition of the first element to be rendered in the electronic map, high-precision rendering data needs to be acquired to render the first element to be rendered, and the requirements on the accuracy and definition of the N second elements to be rendered are lower than those of the first element to be rendered, so that rendering data with lower precision can be acquired to render the N second elements to be rendered.
It should be noted that specific contents of the first element to be rendered and the second element to be rendered are not limited herein, for example: when the electronic map is applied to the automatic driving simulation, the first element to be rendered may be a road, and the second element to be rendered may be a building, a river, vegetation, or the like.
It should be noted that, when the automatic driving simulation test is performed according to the electronic map, the accuracy of the road of the electronic map is higher, so that the automatic driving simulation effect is more reliable.
Another example is: when the electronic map is applied to a game, the first element to be rendered may be a character, and the second element to be rendered may be an environmental element, such as a road, a building, a river, or vegetation.
In the embodiment of the disclosure, the precision of the rendering data corresponding to the acquired first element to be rendered is higher than the precision of the rendering data of the N second elements to be rendered, thus, the rendering data with higher precision can be acquired for the first element to be rendered with higher importance, and the rendering data with lower precision can be acquired for the second element to be rendered with lower importance, so that the rendering element corresponding to the first element to be rendered with higher importance in the finally generated electronic map has higher accuracy and definition, thereby ensuring better use performance of the electronic map, and simultaneously, each rendering element in the electronic map does not need to be rendered by using the rendering data with higher precision, thereby reducing the generation cost of the electronic map.
It should be noted that the types of the first element to be rendered and the second element to be rendered are not limited herein.
As an optional implementation, the first element to be rendered is a base road network, and the N second elements to be rendered include at least one of: highway network environment, urban road network environment, topographic vegetation, environmental style and communities.
Therefore, the rendering data of the basic road network has higher precision than that of the rendering data corresponding to the expressway network environment, the urban road network environment, the terrain vegetation, the environment style and the community, so that the accuracy and the definition of the basic road network in the electronic map are higher, and the accuracy of the result of the simulation test is higher when the automatic driving vehicle carries out the automatic driving simulation test according to the basic road network of the electronic map.
The basic road network may refer to each element included in the main road, for example: the roads with traffic flow greater than the preset threshold value in a certain period of time may be counted, and the road network formed by the above roads may be referred to as a basic road network, and may also be referred to as a main road, and each element included in the main road may include at least one of elements such as a lane line element, an intersection element, a pedestrian crossing element, a lane road surface element, and a stop line element, which may be specifically referred to table 1.
TABLE 1
Wherein, lane line element includes: at least one of a white single solid line, a white double solid line, a white single dotted line, a white dotted solid line, a white double dotted line, a yellow single solid line, a yellow double solid line, a yellow single dotted line, a yellow double dotted line, a thick solid line, a thick dotted line, a scale line and a flow guide belt.
Wherein the lane pavement element comprises: at least one of a general lane, an emergency lane, a bus lane, and a bicycle lane.
When rendering is performed by using rendering elements corresponding to the basic road network, the basic elements of the basic road network may be generated by full-automatic programming using technical means such as linear interpolation, B-spline curve interpolation, Delaunay triangulation, surface subdivision, projection texture mapping, and the like, and a model obtained by rendering data corresponding to the basic road network may be used as a basic model of rendering data corresponding to the highway network environment or the urban road network environment (that is, rendering is performed by inputting rendering data corresponding to the highway network environment or the urban road network environment on the basis of the basic model).
The highway network environment may refer to an environmental element at the roadside of the highway, and may specifically include at least one of the elements in table 2, see table 2.
TABLE 2
As an optional implementation, the N second elements to be rendered include a highway network environment; the rendering of the corresponding elements to be rendered is respectively performed according to the rendering data corresponding to each element to be rendered, and the electronic map is generated, and the method comprises the following steps:
acquiring boundary elements of the highway network environment, and correcting the boundary elements, wherein the corrected boundary elements comprise at least one reference point;
and determining the type of the model generated at the position of the boundary element in the electronic map according to the parameter information of the reference point.
In the embodiment of the disclosure, the type of the model generated at the position of the boundary element is determined by the parameter information of the reference point, so that the generated model has higher accuracy due to the one-to-one correspondence between the type of the generated model and the parameter information of the reference point.
Wherein the boundary element may include at least one of the following elements: stone pier, fence, wall element, isolation belt and anti-dazzle board.
Wherein at least one of the kind of the boundary element and the position of the boundary may be modified, for example: the junction road sections in the boundary elements can be deleted; alternatively, the boundary position may be moved in a certain direction by a preset distance.
The parameter information of the reference point is not limited herein, for example: the parameter information of the reference point may be a height of the reference point, or whether the reference point collides with the projection ray.
When the boundary elements comprise the stone piers, the fences and the enclosing wall elements, the stone piers, the fences and the enclosing wall elements are distributed on the first side of the highway to play a role in shielding and isolating, and the generation scheme can be shown as the following expression:
step 1, extracting a first side boundary (equivalent to obtaining boundary elements) of the expressway, and excluding a part of about 5m (equivalent to correcting the boundary elements) at the intersection of an entrance and exit road junction;
step 2, extending the first side boundary by 0.5m (equivalent to correcting boundary elements);
step 3, differentiating the epitaxial boundary again according to the widths of the stone pier, the fence and the enclosure wall model to generate a reference point;
and 4, setting a height threshold A and a height threshold B, wherein B > A. The height value H of the reference point is separately calculated, and if H is less than A, a fence model is generated at the reference point; if A is less than H and less than B, a stone pier model is generated at the reference point; and if H > B, generating a wall model at the reference point (namely determining the type of the model according to the parameter information of the reference point, wherein the parameter information of the reference point is height information).
When the boundary elements include the isolation zone and the anti-glare panel elements, the isolation zone and the anti-glare panel elements are distributed on the second side of the highway to play an isolation protection role, and the generation scheme of the isolation zone and the anti-glare panel elements can be shown in the following expression:
step 1, extracting a second side boundary of the expressway (equivalent to acquiring boundary elements);
step 2, differentiating the boundary again according to the width of the isolation zone and the anti-dazzle plate model to generate a reference point (equivalently, correcting the boundary element to obtain the reference point);
step 3, setting a distance step length T, carrying out ray projection (Raycast) collision detection step by step to the second side of each reference point, and recording all collision reference points and the step length T;
step 4, extending a distance F towards the second side for each collision reference point, and generating a base segment of the isolation belt (namely determining the type of the model according to the parameter information of the reference point, wherein the parameter information of the reference point comprises whether the collision occurs with the projection ray or not);
step 5, performing Boolean operation on all the isolation strip bases to obtain the whole isolation strip;
step 6, generating an anti-dazzle plate reference point for the left extension distance F/2 of each collision reference point;
step 7, smoothing all the reference points of the anti-dazzle plate to form a spline curve;
and 8, generating an integral anti-dazzle plate model along the curve and combining the integral anti-dazzle plate model with the isolation belt model.
It should be noted that, the highway network elements may further include a main driving road and a ramp merging road, and a ramp diversion line may be generated according to the main driving road and the ramp merging road.
As an alternative embodiment, the N second elements to be rendered include a highway network environment including a main driving road and a ramp merging road; rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, and generating an electronic map, including:
acquiring a first intersection point of the main driving road and the ramp merging road;
acquiring a second intersection point of a first road in the main driving road and a second road in a junction road of the ramp, wherein the first road and the second road are arranged adjacently;
constructing a triangle according to the first intersection point and the second intersection point, wherein the triangle comprises an angular bisector;
expanding a pre-obtained diversion line lane line model along the angular bisector;
and generating a ramp diversion area in the electronic map according to the expanded diversion line lane line model and the triangular Boolean operation.
Wherein the number of the second intersection points may be plural.
In the embodiment of the disclosure, the ramp diversion area is generated according to the expanded diversion line lane line model and the triangular boolean operation, so that the generated ramp diversion line has higher accuracy, and does not need to be manually built, thereby improving the intelligent degree of the generation mode of the ramp diversion line.
The ramp flow guide line is a sign line element of an access area of a ramp of the expressway, and the generation scheme of the ramp flow guide line can be expressed as follows:
step 1, acquiring a road intersection point (a neighbor node >3) where a main road and a ramp converge as an end point (equivalent to a first intersection point) of a diversion area;
step 2, obtaining a first lane A on the inner side of an in-out ramp and a lane B of an adjacent main road, wherein the A and the B have a common intersection point in the step 1;
step 3, obtaining the inner side boundary end points of A and B, and selecting another point except the common intersection point in the step 1 as two starting points (equivalent to a second intersection point) of the guiding area;
step 4, constructing a triangular area S by using a starting point and an end point, and calculating an angular bisector as a reference line L;
step 5, expanding the diversion line lane line model along the reference line L;
and 6, performing S Boolean operation on the expanded diversion line model and the triangular area to generate a final ramp diversion area.
Compared with a common road, the elevated intersection often has a pier structure, and the generation scheme can be shown in the following expression:
step 1, identifying the area of an elevated disk bridge in a map;
step 2, traversing each road in the area, projecting the road to the lower part of the area, and marking an overlapping area;
step 3, calculating the center line of the road through the boundaries of the two sides of the road, removing an overlapped area through Boolean operation, and resampling the overlapped area to be used as a reference point sequence;
step 4, projecting the reference points to the terrain surface, and connecting the reference points with the corresponding original reference points to form a reference line sequence;
and 5, expanding the preset bridge pier model along the reference line to form an elevated intersection region without overlapping shielding.
The urban road network environment may refer to an environmental element at the roadside of each road in a city, and may specifically include at least one of the elements in table 3, which may be specifically referred to in table 3.
TABLE 3
It should be noted that elements of the urban road network environment may refer to a rendering method of elements of the highway network environment, and the urban road network environment is mainly different from the highway network environment in terms of building group elements, and the building group generation has two main nodes, which are a metadata construction phase and a building volume construction phase, respectively.
The metadata construction concept is equivalent to ecological community generation, physical objects are distributed and placed by means of UV layout points in a three-dimensional computer graphic application program, and the metadata construction concept can ensure that the metadata construction concept does not overlap with each other. While it is possible to use the Packing cutter tool in the industry, by measuring the longest edge of each individual area as a directional reference and then grouping the biota as best as possible, and also to choose different patterns and angles.
And when the building volume is constructed completely through the metadata, a building programming modeling production line based on a three-dimensional computer graphic application program engine can be adopted.
Wherein, the topographic vegetation may refer to: the vegetation growing on the terrain and terrain where the basic road network, the highway network environment and the urban road network environment are located is specifically based on the elevation of the structured basic road network, and the terrain is fitted to the road surface of the basic road network.
As an optional implementation manner, the N second elements to be rendered include a basic road network, and the rendering data corresponding to each element to be rendered is used to render the corresponding element to be rendered respectively, so as to generate the electronic map, including:
dividing the basic road network into a plurality of space tiles, and labeling parameter information of the space tiles;
tiling a target terrain on the space tiles;
projecting the parameter information of the space tile onto the target terrain to obtain a projection area and a projection distance;
increasing the elevation height of the projection area by the projection distance, and performing Boolean operation on the projection distance and the basic road network to obtain a terrain structure;
adding noise parameters to target terrain in the terrain structure;
connecting the terrain structures corresponding to the plurality of space tiles according to a preset sequence to obtain an integral terrain;
and instantiating the integral terrain to generate the electronic map.
In the embodiment of the disclosure, on the basis of the basic road, the terrain vegetation can be obtained by rendering, so that the display effect of the finally generated electronic map is better, and meanwhile, the electronic map does not need to be manually built, so that the intelligent degree of the generation of the electronic map is further improved.
The rendering mode of the terrain vegetation can be expressed as follows:
step 1, setting two-dimensional parameters, performing space tile division on a road network (namely a basic road network), and labeling;
step 2, setting a sea area threshold value H for each space tile [ m, n ] (m and n represent parameter information, namely the parameter information can be coordinate information), and tiling a flat terrain t (namely a target terrain) covering the space tile to enable the altitude thereof to be equal to the lowest altitude value-H of the space tile;
step 3, projecting the road of [ m, n ] to t, and marking a projection area and a projection distance;
step 4, the elevation of the projection area is increased by corresponding projection distance, Boolean operation is carried out on the projection area and the road structure to provide an overlapping area, and a step-shaped topographic structure (namely a topographic structure) is formed;
step 5, smoothing the projection area, and increasing noise (namely noise parameters) of random parameters for t, and finishing the construction of the [ m, n ] basic terrain;
step 6, arranging all the space tiles in sequence, and smoothly linking the edges of the space tiles in sequence (namely, connecting the space tiles according to a preset sequence, wherein the preset sequence can be the sequence of coordinate positions) to form a unified overall terrain structure T (namely, an overall terrain);
step 7, Layer (Layer) extraction, namely dividing a Mask (Mask) range based on terrain height, gradient, direction and the like by using a three-dimensional computer graphic application program;
and 8, instantiating the model according to the Layer (namely instantiating the integral terrain), scattering points in a three-dimensional computer graphic application program and copying the corresponding model (for example, different vegetation models can be copied), so as to generate the electronic map.
Wherein, the environment style and community refer to: stylistic effects of different scenes in an electronic map, for example: the whole scene is a brand-new style, a wear style or a stain style; the community refers to the arrangement mode of communities such as shopping malls, factories, houses, mountains, snow, forests, rivers and the like. For example: the arrangement position and the arrangement number of communities such as markets, factories, houses, mountains, snow, forests, rivers and the like.
It should be noted that, the precision of the rendering data of the N second elements to be rendered is not limited herein, and as an optional implementation, the precision of the rendering data of the N second elements to be rendered may be all the same, that is, the rendering data of the N second elements to be rendered may be obtained from the same data source, so that the obtaining cost of the rendering data of the N second elements to be rendered is reduced.
It should be noted that each specific numerical value in the present embodiment is merely an exemplary illustration, and is not particularly limited.
As another optional implementation, the method further includes:
determining the first element to be rendered;
determining the N second elements to be rendered according to the distance between the N second elements to be rendered and the first elements to be rendered;
the N second elements to be rendered are distributed in sequence from near to far according to the distance between the N second elements to be rendered and the first elements to be rendered, and the precision of rendering data of the N second elements to be rendered is decreased progressively in sequence.
The importance of the first element to be rendered may be considered to be the highest, so that the precision of the rendering data of the first element to be rendered may be the highest, and the importance of a second element to be rendered, which is closer to the first element to be rendered, of the N second elements to be rendered is higher than the importance of a second element to be rendered, which is farther from the first element to be rendered, of the N second elements to be rendered, that is, the precision of the rendering data of the second element to be rendered, which is closer to the first element to be rendered, is higher, so that the precision of both the first element to be rendered and the precision of the second element to be rendered, which is close to the first element to be rendered, of the electronic map may be generated, that is, the definition and the precision of the rendering element corresponding to the first element to be rendered and the rendering element corresponding to the second element to be rendered, which is close to the first element to be rendered, are both higher.
In the embodiment of the disclosure, the N second elements to be rendered are distributed in sequence from near to far according to the distance from the first element to be rendered, and the precision of the rendering data of the N second elements to be rendered decreases progressively in sequence, so that the precision of the second elements to be rendered close to the first element to be rendered is higher, the accuracy and the definition of the rendering elements corresponding to the second elements to be rendered close to the first element to be rendered in the generated electronic map are better, and at the same time, the precision of all the second elements to be rendered is higher without making, thereby reducing the generation cost of the electronic map.
And S102, rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, and generating the electronic map.
The rendering data corresponding to each element to be rendered is used to render the corresponding element to be rendered, and the manner of generating the electronic map is not limited herein.
As an alternative implementation, rendering data corresponding to each element to be rendered may be input to a pre-constructed generator or a pre-acquired generator for rendering, so as to generate an electronic map.
The pre-constructed generator may refer to a generator that is pre-generated by obtaining rendering data corresponding to each element to be rendered in the M elements to be rendered, for example: the generator constructed for the homogeneous data may be implemented using rendering data corresponding to each of the M elements to be rendered.
The generator obtained in advance may be downloaded from a server, or the generator may be stored in a local server in advance, or the generator may be a generator sent by another server.
As another optional implementation, the method further includes:
constructing a generator corresponding to each element to be rendered in the M elements to be rendered;
rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, and generating an electronic map, including:
and sequentially inputting rendering data corresponding to the M elements to be rendered into the M generators for rendering, and generating the electronic map.
In the embodiment of the disclosure, generators corresponding to each element to be rendered in the M elements to be rendered can be respectively constructed, then rendering data corresponding to the M elements to be rendered are sequentially input into the M generators for rendering, and an electronic map is generated.
It should be noted that, when rendering is performed on the next rendering data in the rendering data corresponding to the M elements to be rendered, rendering needs to be performed on the basis of the model output by the previous generator.
For example: rendering data corresponding to the basic road network can be input into a generator corresponding to the basic road network for rendering to obtain a model of the basic road network, then the model of the basic road network and the rendering data corresponding to the road network environment are input into the generator corresponding to the road network environment for rendering to obtain a model of the road network environment, then the model of the road network environment and the rendering data corresponding to the terrain vegetation are input into the generator corresponding to the terrain vegetation for rendering to obtain a model of the terrain vegetation, and then the model of the terrain vegetation and the rendering data corresponding to the environment style and the community are input into the generators corresponding to the environment style and the community for rendering to obtain a model of an electronic map.
It should be noted that the road network environment may include at least one of the following: highway networks and urban networks.
It should be noted that, the accuracy of rendering data corresponding to the basic road network, the road network environment, the terrain vegetation, the environment style and the community may be sequentially reduced, that is, the rendering data may be sequentially input to the corresponding generators for rendering according to the accuracy of the rendering data from high to low.
For example: when the M elements to be rendered include a basic road network, an expressway network environment, an urban road network environment, a terrain vegetation, an environment style and a community, a generator corresponding to the basic road network environment may be referred to as a basic road network generator or a basic road network topology generator, a generator corresponding to the expressway network environment may be referred to as an expressway network environment generator, a generator corresponding to the urban road network environment may be referred to as an urban road network environment generator, a generator corresponding to the terrain vegetation may be referred to as a terrain vegetation generator, a generator corresponding to the environment style and the community may be referred to as an environment style and community generator, and a specific framework structure of the generators may be referred to as fig. 2 a.
It should be noted that when the environment style and the community generator adjust the environment style and the community of the electronic map, parameters such as material, environment style and community configuration of the interface adjustment model of the basic road network topology generator, the expressway network environment generator, the urban road network environment generator and the terrain vegetation generator can be adjusted, so that the parameters such as the environment style and the community configuration of the expressway main road, the urban secondary main road, the urban branch road and other urban road intersections of the whole electronic map are uniform, and the method can also be understood as enabling the expressway main road, the urban secondary main road, the urban branch road and other urban road intersections of the whole electronic map to be covered by full grids.
The rendering data corresponding to the basic road network, the highway network environment, the urban road network environment, the terrain vegetation, the environment style and the community has the precision as follows: the precision of the rendering data corresponding to the basic road network is greater than that of the rendering data corresponding to the expressway network environment or the urban road network environment, the precision of the rendering data corresponding to the expressway network environment or the urban road network environment can be greater than that of the rendering data corresponding to the terrain vegetation, and the precision of the rendering data corresponding to the terrain vegetation can be greater than that of the rendering data corresponding to the environment style and the community.
In the embodiment of the present disclosure, through steps S101 to S102, the corresponding elements to be rendered may be rendered according to the rendering data corresponding to each element to be rendered, so as to generate the electronic map, which does not need to adopt a manual modeling manner, thereby improving the efficiency of generating the electronic map and reducing the cost of generating the electronic map.
As shown in fig. 2c, the present disclosure provides a schematic structural diagram of an electronic map generating apparatus, as shown in fig. 2c, the electronic map generating apparatus 200 includes:
an obtaining module 201, configured to obtain rendering data corresponding to each element to be rendered in M elements to be rendered, where at least part of the rendering data corresponding to the M elements to be rendered have different accuracies, and M is a positive integer;
and the rendering module 202 is configured to render the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate the electronic map.
Optionally, wherein the M elements to be rendered include a first element to be rendered and N second elements to be rendered, N being a positive integer less than M;
the obtaining module 201 is further configured to obtain rendering data corresponding to the first element to be rendered, and obtain rendering data of the N second elements to be rendered, where precision of the rendering data corresponding to the first element to be rendered is higher than precision of the rendering data of the N second elements to be rendered.
Optionally, referring to fig. 3, the electronic map generating apparatus 200 further includes:
a first determining module 203, configured to determine the first element to be rendered;
a second determining module 204, configured to determine the N second elements to be rendered according to distances from the first elements to be rendered;
the N second elements to be rendered are distributed in sequence from near to far according to the distance between the N second elements to be rendered and the first elements to be rendered, and the precision of rendering data of the N second elements to be rendered is decreased progressively in sequence.
Optionally, the first element to be rendered is a base road network, and the N second elements to be rendered include at least one of: highway network environment, urban road network environment, topographic vegetation, environmental style and communities.
Optionally, referring to fig. 4, the electronic map generating apparatus 200 further includes:
a constructing module 205, configured to construct a generator corresponding to each element to be rendered in the M elements to be rendered;
the rendering module 202 is further configured to sequentially input rendering data corresponding to the M elements to be rendered into M generators for rendering, so as to generate an electronic map.
Optionally, the M elements to be rendered include a weather element.
Optionally, the N second elements to be rendered comprise a highway network environment; the rendering module 202 includes:
the first obtaining submodule is used for obtaining boundary elements of the highway network environment and correcting the boundary elements, and the corrected boundary elements comprise at least one type of reference points;
and the first generation submodule is used for determining the type of the model generated at the position of the boundary element in the electronic map according to the parameter information of the reference point.
Optionally, the N second elements to be rendered comprise a highway network environment comprising a main driving road and a ramp merging road; the rendering module 202 includes:
the second obtaining submodule is used for obtaining a first intersection point of the main driving road and the ramp merging road;
the third obtaining submodule is used for obtaining a second intersection point of a first road in the main driving road and a second road in the ramp merging road, and the first road and the second road are arranged adjacently;
a construction submodule for constructing a triangle from the first intersection point and the second intersection point, the triangle including an angular bisector;
the expansion submodule is used for expanding a pre-acquired diversion line lane line model along the angular bisector;
and the second generation submodule is used for generating a ramp diversion area in the electronic map according to the expanded diversion line lane line model and the triangular Boolean operation.
Optionally, the N second elements to be rendered include a basic road network, and the rendering module 202 includes:
the dividing submodule is used for dividing the basic road network into a plurality of space tiles and marking parameter information of the space tiles;
a tiling submodule for tiling a target terrain on the space tiles;
the projection submodule is used for projecting the parameter information of the space tile onto the target terrain to obtain a projection area and a projection distance;
the operation submodule is used for increasing the elevation of the projection area by the projection distance and carrying out Boolean operation on the projection distance and the basic road network to obtain a terrain structure;
a noise processing submodule for adding noise parameters to a target terrain in the terrain structure;
the connecting sub-module is used for connecting the terrain structures corresponding to the plurality of space tiles according to a preset sequence to obtain an integral terrain;
and the third generation submodule is used for instantiating the integral terrain to generate the electronic map.
The electronic map generation apparatus 200 provided by the present disclosure can implement each process implemented by the electronic map generation method embodiment, and can achieve the same beneficial effects, and for avoiding repetition, the details are not repeated here.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 5 illustrates a schematic block diagram of an example electronic device 500 that can be used to implement embodiments of the present disclosure. 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 phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the apparatus 500 comprises a computing unit 501 which may perform various appropriate actions and processes in accordance with a computer program stored in a Read Only Memory (ROM)502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the device 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 501 executes the respective methods and processes described above, such as the electronic map generation method. For example, in some embodiments, the electronic map generation method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM503 and executed by the computing unit 501, one or more steps of the electronic map generation method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the electronic map generation method by any other suitable means (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.
The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (21)
1. An electronic map generation method, comprising:
obtaining rendering data corresponding to each element to be rendered in M elements to be rendered, wherein at least part of rendering data corresponding to the M elements to be rendered have different precisions, and M is a positive integer;
and rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate the electronic map.
2. The method of claim 1, wherein the M elements to be rendered comprise a first element to be rendered and N second elements to be rendered, N being a positive integer less than M;
the obtaining rendering data corresponding to each element to be rendered in the M elements to be rendered includes:
and acquiring rendering data corresponding to the first element to be rendered, and acquiring rendering data of the N second elements to be rendered, wherein the precision of the rendering data corresponding to the first element to be rendered is higher than that of the rendering data of the N second elements to be rendered.
3. The method of claim 2, further comprising:
determining the first element to be rendered;
determining the N second elements to be rendered according to the distance between the N second elements to be rendered and the first elements to be rendered;
the N second elements to be rendered are distributed in sequence from near to far according to the distance between the N second elements to be rendered and the first elements to be rendered, and the precision of rendering data of the N second elements to be rendered is decreased progressively in sequence.
4. The method of claim 2, wherein the first element to be rendered is a base road network and the N second elements to be rendered comprise at least one of: highway network environment, urban road network environment, topographic vegetation, environmental style and communities.
5. The method of any of claims 1 to 4, further comprising:
constructing a generator corresponding to each element to be rendered in the M elements to be rendered;
the rendering of the corresponding elements to be rendered is respectively performed according to the rendering data corresponding to each element to be rendered, and the electronic map is generated, and the method comprises the following steps:
and sequentially inputting rendering data corresponding to the M elements to be rendered into the M generators for rendering, and generating the electronic map.
6. The method of claim 1, wherein the M elements to be rendered comprise weather elements.
7. The method of claim 4, wherein the N second elements to be rendered comprise a highway network environment; the rendering of the corresponding elements to be rendered is respectively performed according to the rendering data corresponding to each element to be rendered, and the electronic map is generated, and the method comprises the following steps:
acquiring boundary elements of the highway network environment, and correcting the boundary elements, wherein the corrected boundary elements comprise at least one reference point;
and determining the type of the model generated at the position of the boundary element in the electronic map according to the parameter information of the reference point.
8. The method of claim 4, wherein the N second elements to be rendered comprise a highway network environment comprising main driving roads and ramp merging roads; the rendering of the corresponding elements to be rendered is respectively performed according to the rendering data corresponding to each element to be rendered, and the electronic map is generated, and the method comprises the following steps:
acquiring a first intersection point of the main driving road and the ramp merging road;
acquiring a second intersection point of a first road in the main driving road and a second road in a junction road of the ramp, wherein the first road and the second road are arranged adjacently;
constructing a triangle according to the first intersection point and the second intersection point, wherein the triangle comprises an angle bisector;
expanding a pre-obtained diversion line lane line model along the angular bisector;
and generating a ramp diversion area in the electronic map according to the expanded diversion line lane line model and the triangular Boolean operation.
9. The method according to claim 4, wherein the N second elements to be rendered include a basic road network, and the rendering of the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered to generate the electronic map includes:
dividing the basic road network into a plurality of space tiles, and labeling parameter information of the space tiles;
tiling a target terrain on the space tiles;
projecting the parameter information of the space tile onto the target terrain to obtain a projection area and a projection distance;
increasing the elevation height of the projection area by the projection distance, and performing Boolean operation on the projection distance and the basic road network to obtain a terrain structure;
adding noise parameters to target terrain in the terrain structure;
connecting the terrain structures corresponding to the plurality of space tiles according to a preset sequence to obtain an integral terrain;
and instantiating the integral terrain to generate the electronic map.
10. An electronic map generation apparatus comprising:
the device comprises an acquisition module, a display module and a display module, wherein the acquisition module is used for acquiring rendering data corresponding to each element to be rendered in M elements to be rendered, the rendering data corresponding to the M elements to be rendered are at least partially different in precision, and M is a positive integer;
and the rendering module is used for rendering the corresponding elements to be rendered according to the rendering data corresponding to each element to be rendered, so as to generate the electronic map.
11. The apparatus of claim 10, wherein the M elements to be rendered comprise a first element to be rendered and N second elements to be rendered, N being a positive integer less than M;
the obtaining module is further configured to obtain rendering data corresponding to the first element to be rendered, and obtain rendering data of the N second elements to be rendered, where precision of the rendering data corresponding to the first element to be rendered is higher than precision of the rendering data of the N second elements to be rendered.
12. The apparatus of claim 11, the electronic map generation apparatus, further comprising:
a first determining module, configured to determine the first element to be rendered;
a second determining module, configured to determine the N second elements to be rendered according to distances from the first elements to be rendered;
the N second elements to be rendered are distributed in sequence from near to far according to the distance between the N second elements to be rendered and the first elements to be rendered, and the precision of rendering data of the N second elements to be rendered is decreased progressively in sequence.
13. The apparatus of claim 11, wherein the first element to be rendered is a base road network, and the N second elements to be rendered comprise at least one of: highway network environment, urban road network environment, topographic vegetation, environmental style and communities.
14. The apparatus of any of claims 10 to 13, the electronic map generation apparatus, further comprising:
the construction module is used for constructing a generator corresponding to each element to be rendered in the M elements to be rendered;
and the rendering module is also used for sequentially inputting rendering data corresponding to the M elements to be rendered into the M generators for rendering, and generating the electronic map.
15. The apparatus of claim 10, wherein the M elements to be rendered comprise weather elements.
16. The apparatus of claim 13, wherein the N second elements to be rendered comprise a highway network environment; the rendering module includes:
the first obtaining submodule is used for obtaining boundary elements of the highway network environment and correcting the boundary elements, and the corrected boundary elements comprise at least one type of reference points;
and the first generation submodule is used for determining the type of the model generated at the position of the boundary element in the electronic map according to the parameter information of the reference point.
17. The apparatus of claim 13, wherein the N second elements to be rendered comprise a highway network environment comprising a main driving road and a ramp merging road; the rendering module includes:
the second obtaining submodule is used for obtaining a first intersection point of the main driving road and the ramp merging road;
the third obtaining submodule is used for obtaining a second intersection point of a first road in the main driving road and a second road in the ramp merging road, and the first road and the second road are arranged adjacently;
a construction submodule for constructing a triangle from the first intersection point and the second intersection point, the triangle including an angular bisector;
the expansion submodule is used for expanding a pre-acquired diversion line lane line model along the angular bisector;
and the second generation submodule is used for generating a ramp diversion area in the electronic map according to the expanded diversion line lane line model and the triangular Boolean operation.
18. The apparatus of claim 13, wherein the N second elements to be rendered comprise a base road network, the rendering module comprising:
the dividing submodule is used for dividing the basic road network into a plurality of space tiles and marking parameter information of the space tiles;
a tiling submodule for tiling a target terrain on the space tiles;
the projection submodule is used for projecting the parameter information of the space tile onto the target terrain to obtain a projection area and a projection distance;
the operation submodule is used for increasing the elevation of the projection area by the projection distance and carrying out Boolean operation on the projection distance and the basic road network to obtain a terrain structure;
a noise processing submodule for adding noise parameters to a target terrain in the terrain structure;
the connecting sub-module is used for connecting the terrain structures corresponding to the plurality of space tiles according to a preset sequence to obtain an integral terrain;
and the third generation submodule is used for instantiating the integral terrain to generate the electronic map.
19. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-9.
20. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-9.
21. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-9.
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