CN115830552A - Virtual elevation generation method and device, computer equipment and storage medium - Google Patents

Virtual elevation generation method and device, computer equipment and storage medium Download PDF

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Publication number
CN115830552A
CN115830552A CN202210882844.8A CN202210882844A CN115830552A CN 115830552 A CN115830552 A CN 115830552A CN 202210882844 A CN202210882844 A CN 202210882844A CN 115830552 A CN115830552 A CN 115830552A
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road
point
position point
target
interpolation
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肖童星
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Abstract

The present application relates to a virtual elevation generation method, apparatus, computer device, storage medium and computer program product. The method comprises the following steps: determining a target road and an opposite road of the target road from an ascending road and a descending road based on a road matching section between the ascending road and the descending road in a road network; performing interpolation processing on a first position point sequence of a corresponding road matching section in the target road to obtain a target position point sequence of the target road; determining a plurality of target position points from the target position point sequence, and determining corresponding opposite position points which are positioned in an opposite road and correspond to each target position point; generating elevation consistency constraint conditions corresponding to each pair of target position points and object position points; and determining a first virtual elevation of each target position point and a second virtual elevation of each alignment position point according to the elevation consistency constraint conditions. By adopting the method, the elevations of the ascending road and the descending road can be consistent. The method and the device can be applied to the field of maps.

Description

Virtual elevation generation method and device, computer equipment and storage medium
Technical Field
The present application relates to the field of computer technologies, and in particular, to a virtual elevation generation method and apparatus, a computer device, and a storage medium.
Background
With the development of society, road traffic becomes more and more complicated, and people often need to complete route planning, route navigation and the like by means of an electronic map when going out. An up-link road and a down-link road may be shown in the electronic map. The up-link and down-link means roads divided by a division object such as an isolation zone, a road marking, or the like, and the elevations of a pair of up-link and down-link should be approximately equal in a direction perpendicular to the horizontal plane.
In a conventional electronic map generation method, the virtual elevations of an uplink road and a downlink road are usually determined respectively, so that a situation that the virtual elevation difference between the uplink road and the downlink road is large occurs, and the current situation that the elevation difference between a pair of the uplink road and the downlink road is not large in reality is not met.
Disclosure of Invention
In view of the above, it is necessary to provide a virtual elevation generation method, apparatus, computer device, computer readable storage medium, and computer program product that can make the elevations of an up road and a down road consistent.
In a first aspect, the present application provides a virtual elevation generation method, including:
determining a target road and an opposite road of the target road from an ascending road and a descending road based on a road matching section between the ascending road and the descending road in a road network;
performing interpolation processing on a first position point sequence corresponding to the road matching section in the target road to obtain a target position point sequence of the target road;
determining a plurality of target position points from the target position point sequence, and determining corresponding opposite position points in the opposite road corresponding to each target position point;
generating elevation consistency constraint conditions corresponding to each pair of target position points and object position points; the elevation consistency constraint condition is used for indicating a condition which needs to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point;
and determining a first virtual elevation of each target position point and a second virtual elevation of each opposite position point according to each elevation consistency constraint condition.
In one embodiment, before the interpolating the first position point sequence corresponding to the road matching section in the target road to obtain the target position point sequence of the target road, the method further includes:
determining a target route corresponding to the road matching section in the target road, and determining end points and corner points in the target route;
sequencing the end points and the corner points in the target route according to the position arrangement sequence of the end points and the corner points in the target route to obtain a first position point sequence;
the interpolating the first position point sequence corresponding to the road matching section in the target road to obtain the target position point sequence of the target road comprises:
and carrying out interpolation processing on the target route according to a preset interpolation interval to obtain a plurality of interpolation points, and integrating the interpolation points and the first position point sequence to obtain a target position point sequence.
In one embodiment, the interpolating the target route according to a preset interpolation interval to obtain a plurality of interpolation points includes:
determining a reference position point and a subsequent position point which is positioned behind the reference position point in the first position point sequence, and determining a target subsequence which takes the reference position point as a starting point and the subsequent position point as an end point in the first position point sequence;
and when the number of the position points included in the target subsequence is equal to a number threshold, sequentially inserting interpolation points into a line segment formed based on the reference position point and the subsequent position points according to the interpolation interval to obtain at least one interpolation point.
In one embodiment, the determining a first virtual elevation of each target location point and a second virtual elevation of each opposite location point according to each elevation consistency constraint condition includes:
generating a distribution characteristic condition; the distribution characteristic conditions represent conditions required to be met by the virtual elevations of the target position points and the dispersion degrees of the virtual elevations of the alignment position points;
and adjusting the first initial virtual elevation of each target position point and the second initial virtual elevation of each opposite position point according to the distribution characteristic conditions and the elevation consistency constraint conditions to obtain the first virtual elevation of each target position point and the second virtual elevation of each opposite position point.
In a second aspect, the present application further provides a virtual elevation generation apparatus, comprising:
the road determining module is used for determining a target road and an opposite road of the target road from an ascending road and a descending road based on a road matching section between the ascending road and the descending road in a road network;
the position point determining module is used for performing interpolation processing on a first position point sequence corresponding to the road matching section in the target road to obtain a target position point sequence of the target road; determining a plurality of target position points from the target position point sequence, and determining corresponding opposite position points in the opposite road corresponding to each target position point;
the condition generating module is used for generating elevation consistency constraint conditions corresponding to each pair of target position points and object position points; the elevation consistency constraint condition is used for indicating a condition which needs to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point; and determining a first virtual elevation of each target position point and a second virtual elevation of each opposite position point according to each elevation consistency constraint condition.
In one embodiment, the virtual elevation generating device further includes a road matching section generating module, configured to acquire a road network and identify an ascending road and a descending road in the road network; determining a first road route in the uplink and an end point of the first road route; determining a second road route in the down road and end points of the second road route; and determining a road matching section between the uplink road and the downlink road according to the end point of the first road route and the end point of the second road route.
In one embodiment, the road matching section between the uplink road and the downlink road comprises a first matching section and a second matching section; the road matching section generation module is further used for projecting the end point of the first road route to the downlink road to obtain a first projection point; projecting the end point of the second road route to the uplink road to obtain a second projection point; determining a first matching section matched with the downlink road in the uplink road according to at least one of the end point of the first road route and the second projection point; and determining a second matching section matched with the uplink road in the downlink road according to at least one of the end point of the second road route and the first projection point.
In one embodiment, the end points of the first road route include a first start point and a first end point; the end points of the second road route comprise a second starting point and a second ending point; the road matching road section generating module is further used for intercepting a road section which takes the first starting point and the first ending point as position points in two side lines from the ascending road under the condition that the first starting point and the first ending point are projected successfully to obtain a first matching road section; under the condition that the first starting point or the first ending point is projected successfully, screening out a first target end point which is projected successfully from the first starting point and the first ending point, and intercepting a road section which takes the first target end point and the second projection point as position points in two side lines from an ascending road to obtain a first matching road section; and under the condition that the first starting point and the first ending point are not projected successfully and the second starting point and the second ending point are projected successfully, intercepting a road section which takes a second projection point of the second starting point and a second projection point of the second ending point as position points in side lines on two sides from the ascending road to obtain a first matching road section.
In one embodiment, the road matching sections between the uplink and the downlink comprise a first matching section matched with the downlink in the uplink and a second matching section matched with the uplink in the downlink; the road determination module is further configured to determine a first road segment length of the first matched road segment; determining a second road segment length of the second matched road segment; and selecting one road from the uplink road and the downlink road as a target road and the other road as an opposite road according to the first road length and the second road length.
In one embodiment, the virtual elevation generation device is further configured to determine a target route corresponding to the road matching section in the target road, and determine end points and corner points in the target route; sequencing the end points and the corner points in the target route according to the position arrangement sequence of the end points and the corner points in the target route to obtain a first position point sequence; the position point determining module is further configured to perform interpolation processing on the target route according to a preset interpolation interval to obtain a plurality of interpolation points, and synthesize the plurality of interpolation points and the first position point sequence to obtain a target position point sequence.
In one embodiment, the position point determining module is further configured to determine a reference position point in the first sequence of position points and a subsequent position point located after the reference position point; the length of a broken line formed by a target subsequence taking the reference position point as a starting point and taking the subsequent position point as an end point in the first position point sequence is greater than or equal to a preset interpolation interval; inserting at least one interpolation point in a polygonal line formed based on the target subsequence according to the interpolation interval; adding each interpolation point between the reference position point and the subsequent position point in the first position point sequence according to the position arrangement order of each interpolation point in a polyline formed by the target subsequence so as to update the first position point sequence; and taking the target interpolation point meeting the long-distance condition in the interpolation points as a new reference position point, entering the next round of interpolation process, returning to the step of determining the subsequent position point positioned after the reference position point, and continuing to execute until the subsequent position point is the position point in the last sequence in the first position point sequence, the distance between the reference position point and the subsequent position point is less than or equal to the interpolation distance, and taking the finally updated first position sequence point as the target position point sequence.
In one embodiment, the position point determining module is further configured to traverse position points in the first position point sequence after the reference position point according to an arrangement order of the position points in the first position point sequence; extracting a candidate subsequence taking the reference position point as a starting point and taking the currently traversed position point as an end point from the first position point sequence, and determining the length of a broken line formed by the candidate subsequence; and when the length of the polyline formed by the candidate subsequence is smaller than the interpolation interval, continuing traversing until the length of the polyline formed by the candidate subsequence extracted from the first position point sequence based on the currently traversed position point is larger than or equal to the interpolation interval, and taking the currently traversed position point in the first position point sequence as a subsequent position point.
In one embodiment, the position point determining module is further configured to determine a preceding position point adjacent to and before the subsequent position point in the first position point sequence when the number of position points included in the target subsequence is greater than a number threshold; acquiring the length of a broken line formed by a middle subsequence taking the reference position point as a starting point and taking the preamble position point as an end point in the first position point sequence; determining the interpolation coordinate of a first interpolation point in the current round of interpolation process according to the length of a broken line formed by the middle subsequence and the interpolation interval to obtain the first interpolation point; and sequentially inserting subsequent interpolation points into a line segment formed based on the first interpolation point and the subsequent position points according to the interpolation interval to obtain each subsequent interpolation point.
In one embodiment, the position point determining module is further configured to determine a difference between the length of a polygonal line formed by the middle subsequence and the interpolation interval, to obtain a difference length, and use the difference length as a distance between a first interpolation point and the preamble position point in a current round of interpolation process; and obtaining the interpolation coordinate of the first interpolation point in the current round interpolation process according to the first position coordinate of the preorder position point, the second position coordinate of the postorder position point and the distance between the first interpolation point and the preorder position point in the current round interpolation process.
In one embodiment, the position point determining module is further configured to determine a ratio between a length of a line segment formed by the preceding position point and the following position point and the difference length, so as to obtain a length ratio; acquiring a first position coordinate of the preorder position point and a second position coordinate of the postorder position point; determining a coordinate difference between the first position coordinate and the second position coordinate; carrying out coordinate fusion on the length ratio and the coordinate difference value to obtain a fusion coordinate; and superposing the first position coordinate and the fusion coordinate to obtain the interpolation coordinate of the first interpolation point in the current round of interpolation process.
In one embodiment, the position point determining module is further configured to, when the number of position points included in the target subsequence is equal to a number threshold, sequentially insert interpolation points in a line segment formed based on the reference position point and the subsequent position points according to the interpolation interval, so as to obtain at least one interpolation point.
In one embodiment, the position point determining module is further configured to, for each of the plurality of target position points, regard, as the opposite position point corresponding to the current target position point, a position point in the opposite road, at which a distance from the current target position point satisfies a first short-distance condition.
In one embodiment, the position point determining module is further configured to, when a current target position point is an interpolation point obtained by interpolating the first position point sequence, project the current target position point to the opposite road to obtain a third projection point, and use the third projection point as an opposite position point corresponding to the current target position point; and when the current target position point is the sequence endpoint of the first position point sequence, acquiring a second position point sequence corresponding to the road matching section in the opposite road, and screening the opposite position point corresponding to the current target position point from the second position point sequence.
In one embodiment, the location point determining module is further configured to obtain a second location point sequence corresponding to the road matching section in the opposite road; dividing an opposite route in the opposite road through position points in the second position point sequence to obtain a plurality of route segments; for each of the plurality of route segments, making a perpendicular line to the current route segment through the current target position point to obtain a middle drop foot, and taking the middle drop foot as a candidate drop foot when the middle drop foot falls into the current route segment; screening out a target foot closest to the current target position point from the candidate feet; and determining a third projection point corresponding to the current target position point according to the target foot.
In one embodiment, the location point determining module is further configured to determine distances between the current target location point and each location point in the second location point sequence, respectively, to obtain a plurality of candidate distances; screening out a target distance meeting a second short-distance condition from the plurality of candidate distances; and when the distance between the target foot and the current target position point is less than or equal to the target distance, taking the target foot as a third projection point corresponding to the current target position point.
In one embodiment, the condition generating module is further configured to generate a distribution characteristic condition; the distribution characteristic conditions represent conditions required to be met by the virtual elevations of the target position points and the dispersion degrees of the virtual elevations of the alignment position points; and adjusting the first initial virtual elevation of each target position point and the second initial virtual elevation of each opposite position point according to the distribution characteristic conditions and the elevation consistency constraint conditions to obtain the first virtual elevation of each target position point and the second virtual elevation of each opposite position point.
In one embodiment, the condition generating module is further configured to obtain at least one associated position point pair of a road from the road network, and determine a position association relationship between position points included in each associated position point pair; generating a virtual elevation constraint condition set corresponding to at least one associated position point pair according to the position association relation; the virtual elevation constraint set at least comprises one of a capping zone constraint, an adjacent height continuous constraint and a gradient constraint; and determining a first virtual elevation of each target position point, a second virtual elevation of each opposite position point and a third virtual elevation corresponding to the position point included in each associated position point pair respectively based on the virtual elevation constraint condition set and the elevation consistency constraint condition.
In a third aspect, the present application further provides a computer device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps in any one of the virtual elevation generation methods provided by the embodiments of the present application when executing the computer program.
In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, where the computer program, when executed by a processor, implements the steps of any one of the virtual elevation generation methods provided by the embodiments of the present application.
In a fifth aspect, the present application further provides a computer program product comprising a computer program that, when executed by a processor, performs the steps of any one of the virtual elevation generation methods provided in embodiments of the present application.
By determining a road matching section between the up-link road and the down-link road, the target road and the subtended road in the up-link road and the down-link road may be determined based on the determined road matching section. By determining the target road section, a first position point sequence corresponding to the road matching road section in the target road section can be obtained, and by obtaining the first position point sequence, interpolation processing can be carried out on the first position point sequence, so that a target position point sequence comprising more abundant position points is obtained. By obtaining the target position point sequence, a plurality of target position points can be screened out from the target position point sequence, and the opposite position points corresponding to each target position point in the opposite road are determined, so that the elevation consistency constraint conditions corresponding to each pair of the target position points and the object position points can be generated, and the first virtual elevation of each target position point and the second virtual elevation of each opposite position point can be obtained through the generated plurality of elevation consistency constraint conditions. Because the elevation consistency constraint condition constrains the condition which needs to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point, the difference between the first virtual elevation and the corresponding second virtual elevation can meet the virtual elevation difference constrained by the elevation consistency constraint condition, so that the virtual elevation difference between the uplink road and the downlink road obtained by rendering based on the first virtual elevation and the second virtual elevation can be smaller than a certain elevation threshold value, and the current situation that the elevation difference between a pair of uplink road and downlink road in reality is not large is met.
Drawings
FIG. 1 is a diagram of an environment in which a virtual elevation generation method may be applied in one embodiment;
FIG. 2 is a schematic flow chart diagram illustrating a method for virtual elevation generation in one embodiment;
FIG. 3 is a schematic illustration of an up-link and down-link in one embodiment;
FIG. 4 is a schematic diagram of a first sequence of location points in one embodiment;
FIG. 5 is a schematic illustration of a sequence of target location points in one embodiment;
FIG. 6 is a diagram of a first matching region in one embodiment;
FIG. 7 is a flow diagram of interpolation in a first sequence of location points according to an interpolation interval in one embodiment;
FIG. 8 is a flow diagram that illustrates a flow diagram of an insertion point in one embodiment;
FIG. 9 is a schematic view of a drop foot according to one embodiment;
FIG. 10 is a schematic illustration of a projection failure in one embodiment;
FIG. 11 is a schematic diagram of a process for projecting location points onto polylines in one embodiment;
FIG. 12 is a schematic illustration of a gland relationship error in one embodiment;
FIG. 13 is a schematic illustration of a road steepness drop in one embodiment;
FIG. 14 is a schematic illustration of a rough road junction in one embodiment;
FIG. 15 is a schematic diagram of a height difference between an up-link and down-link in one embodiment;
FIG. 16 is a schematic representation of a road network according to one embodiment;
FIG. 17 is a schematic overall flow chart for generating virtual elevations, under an embodiment;
FIG. 18 is a flow diagram that illustrates the generation of elevation consistency constraints, under an embodiment;
FIG. 19 is a schematic flow chart diagram illustrating a method for virtual elevation generation in accordance with an exemplary embodiment;
FIG. 20 is a block diagram of a virtual elevation generation apparatus in one embodiment;
FIG. 21 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The virtual elevation generation method provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The data storage system may store data that the server 104 needs to process. The data storage system may be integrated on the server 104, or may be placed on the cloud or other server. The terminal 102 and the server 104 may each be used separately to perform the virtual elevation generation method provided in the embodiments of the present application. The terminal 102 and the server 104 may also be cooperatively used to execute the virtual elevation generation method provided in the embodiments of the present application. For example, the terminal 102 and the server 104 may be cooperatively used to execute the virtual elevation generation method provided in the embodiment of the present application, an electronic map application may be run in the terminal 102, and the server 104 may be a background server of the electronic map application. The server 104 may obtain a road network and identify up-roads and down-roads in the road network, and determine virtual elevations of the up-roads and the down-roads by generating elevation consistency constraints corresponding to the up-roads and the down-roads. The server 104 generates map data through the determined virtual elevation and transmits the map data to the terminal 102, so that the map application in the terminal 102 performs rendering display of the electronic map through the received map data. The terminal 102 may be, but not limited to, various desktop computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car-mounted devices, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The server 104 may be implemented as a stand-alone server or as a server cluster comprised of multiple servers.
For example, the virtual elevation can be generated by the virtual elevation generation method, and the electronic map is rendered through the generated virtual elevation, so that more accurate navigation is realized on the basis of the electronic map obtained through rendering. An Intelligent Transportation System (ITS), also called Intelligent Transportation System (Intelligent Transportation System), is a comprehensive Transportation System which effectively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operational research, artificial intelligence and the like) to Transportation, service control and vehicle manufacturing and strengthens the connection among vehicles, roads and users, thereby forming a comprehensive Transportation System which ensures safety, improves efficiency, improves environment and saves energy
In one embodiment, as shown in FIG. 2, a virtual elevation generation method is provided, which is described by way of example as being applied to a computer device, which may be a terminal or a server in FIG. 1.
The virtual elevation generation method comprises the following steps:
step 202, determining a target road and an opposite road of the target road from the ascending road and the descending road based on the road matching section between the ascending road and the descending road in the road network.
The ascending road and the descending road in the road network refer to two one-way traffic roads formed by splitting a two-way traffic road. Illustratively, referring to FIG. 3, FIG. 3 shows a schematic representation of an up-link and down-link in one embodiment. The road matching section refers to a section that matches between an up road and a down road. The road section means that the road in the plane map is represented by segments, and each road segment is a road section. The road matching section between the ascending road and the descending road comprises: the first matching section in the up road matching with the down road and the second matching section in the down road matching with the up road. For example, referring to fig. 3, a section 301 in the uplink is a first matching section in the uplink, which is matched with the downlink; the section 302 in the downlink is a second matching section in the downlink, which is matched with the uplink. The link 301 is a link centered on the folding line EFGJ. The link 302 is a link having the broken line ABCK as a center line.
Specifically, when a pair of an up road and a down road in the road network is obtained, the computer device may determine a road matching section between the up road and the down road, that is, may determine a first matching section in the up road that matches the down road and a second matching section in the down road that matches the up road. Further, the computer device selects one road as a target road and the other road as an opposite road from the up road and the down road according to the determined first matching section and the second matching section.
In one embodiment, when the road network is obtained, the computer device may identify roads in the road network through a pre-trained machine learning model to obtain an ascending road and a descending road. The machine learning model has the road characteristic extraction capability through sample learning, and identifies the uplink road and the downlink road in the road network based on the extracted road characteristics. The machine learning model may adopt a neural network model, a dual path network model (DPN), a support vector machine, a logistic regression model, or the like.
In one embodiment, the computer device may randomly take one of the up-link and the down-link as the target link and the other as the opposite link.
In one embodiment, the up-road and down-road in the road network can be labeled by manual labeling, and the road matching section between the up-road and the down-road can be labeled.
In one embodiment, when a pair of an uplink and a downlink is obtained, the computer device may translate the entire uplink into the downlink, obtain an overlap region between the uplink and the downlink, and determine a first matching section in the uplink and a second matching section in the downlink through the overlap region. For example, a section of the shifted uplink that overlaps with the downlink is used as a first matching section, a section of the downlink that overlaps with the shifted uplink is used as a second matching section, and the first matching section and the second matching section are integrated to obtain a road matching section.
In one embodiment, the computer device determines a first area of the first matching link and a second area of the second matching link, and determines a target road among the up road and the down road and the other road as the opposite road according to the first area and the second area. For example, the computer device sets a road having a small area as a target road and sets the other road as an opposite road. For example, if the first area is smaller than the second area, the computer device may set the up road as the target road and the down road as the opposite road.
In one embodiment, determining a target road and an opposite road of the target road from an ascending road and a descending road based on a road matching section between the ascending road and the descending road in a road network comprises: determining a first road section length of the first matching road section; determining a second road segment length of the second matching road segment; and selecting one road from the ascending road and the descending road as a target road and the other road as an opposite road according to the first road section length and the second road section length.
Specifically, when the first matching section in the uplink is obtained, the computer device may determine the first matching route in the first matching section, for example, using a road edge of the first matching section as the first matching route, or using a center line of the first matching section as the first matching route. Further, the computer device may determine a second matched segment in the second matched segment, such as having a road edge of the second matched segment as the second matched route or having a centerline of the second matched segment as the second matched route.
The computer device determines a route length of the first matching route and takes the route length of the first matching route as a first route length of a first matching road segment in the up road. The computer device determines a route length of the second matched road segment and takes the route length of the second matched route as a second road segment length of the second matched road segment in the up road. When the first road segment length and the second road segment length are obtained, the computer device can take the road segment with the smaller road segment length as the target road segment and the other road segment as the opposite road segment.
For example, referring to fig. 3, when the folding line EFGJ is the center line of the first matching link, the folding line EFGJ may be used as the first matching link, and at this time, the computer device may obtain the position coordinates corresponding to each of the position points E, F, G, and J in the folding line EFGJ, determine the length of the folding line EFGJ based on the determined position coordinates, and use the determined length of the folding line as the first link length. Correspondingly, when the broken line ABCK is the central line of the second matching road section, the broken line ABCK can be used as the second matching route, at this time, the computer equipment determines the length of the broken line ABCK according to the position coordinates corresponding to the position points A, B, C and K in the broken line ABCK, and the determined length of the broken line is used as the length of the second route section. Wherein the location coordinates are determined by providing latitude and longitude coordinates based on the navigation data. If the length of the first road segment is smaller than that of the second road segment, the computer device takes the uplink road as a target road; and if the length of the first road segment is greater than that of the second road segment, the computer equipment takes the downlink road as a target road. FIG. 3 shows a schematic diagram of a road matching segment in one embodiment.
In one embodiment, the computer device may further determine the road edges that constitute the first matched segment, and superimpose the lengths of the road edges that constitute the first matched segment to obtain the first segment length. Correspondingly, the computer equipment determines the road edges forming the second matching road section, and superposes the lengths of the road edges forming the second matching road section to obtain the length of the second road section.
And 204, performing interpolation processing on the first position point sequence of the corresponding road matching section in the target road to obtain a target position point sequence of the target road.
The first position point sequence refers to a sequence including a plurality of position points in the target road, and the position points in the target road included in the first position point sequence fall into the road matching section.
Specifically, when determining the road matching section, the computer device may determine a section located in the target road among the road matching sections, and may take the section located in the target road among the road matching sections as the target matching section. The computer device determines a target route in the target matching road segment, identifies corner points and end points in the target route, and takes the identified corner points and end points as position points in the first sequence of position points. Wherein the target route may be a centerline of the target road segment. The target route is not always a straight line, and referring to fig. 4, when the target road is not a straight road, the target route 403 in the target matching section 402 may also be a broken line. The corner points refer to extreme points, which may be points where the slope of the polyline changes abruptly, for example, the corner points may be the position points G and F in fig. 4. End points refer to the start and end points of the target route. For example, the endpoints may be position point J and position point E in fig. 4. And integrating the position point J, the position point G, the position point F and the position point E to obtain a first position point sequence. FIG. 4 shows a schematic diagram of a first sequence of location points in one embodiment.
Further, when the first position point sequence is obtained, the computer device may perform interpolation processing on the first position point sequence to generate a plurality of interpolation points, and insert the generated plurality of interpolation points into the first position point sequence to obtain a target position point sequence of the target road.
In one embodiment, if the ascending road is the target road, the first matching section is a section of the road matching section located in the target road, that is, the first matching section is the target matching section. If the downlink road is the target road, the second matching section is a section of the road matching section located in the target road, that is, the second matching section is the target matching section.
In one embodiment, since the first position point sequence includes the corner points and the end points of the target route in the target matching road segment, the first position point sequence may be interpolated by interpolating the target route. The computer equipment can perform interpolation in the target route according to the preset interpolation interval to obtain at least one interpolation point, and synthesize the first position point sequence and the generated interpolation point to obtain a target position point sequence. It is easy to understand that since a line is composed of infinite points, inserting an interpolation point in a polyline can also be considered as finding an interpolation point in the polyline. For example, referring to fig. 5, when the target route in the target road is a folding line JGFE, the computer device may insert an interpolation point L, an interpolation point M, and an interpolation point N in the folding line JGFE. That is, the search results in point L, point M, and point N in polyline JGFE. The computer device takes a sequence including a position point J, a position point G, an interpolation point L, an interpolation point M, a position point F, an interpolation point N, and a position point E as a target position point sequence. Equivalently, an interpolation point L, an interpolation point M, and an interpolation point N are added to the first position point sequence. FIG. 5 is a diagram that illustrates a sequence of target location points, in one embodiment.
And step 206, determining a plurality of target position points from the target position point sequence, and determining corresponding opposite position points in the opposite road corresponding to each target position point.
Specifically, when determining the sequence of target location points, the computer device may screen out the interpolation points and the end points of the target route from the sequence of target location points, and use the screened interpolation points and the end points of the target route as the target location points. For each position point in the sequence of target position points, the computer device determines a position point corresponding to each target position point in the opposite road, and takes the position point corresponding to the target position point in the opposite road as the opposite position point. And the distance between the target position point and the corresponding opposite position point meets a preset first short-distance condition. The first short-distance condition means that the distance between the target position point and the corresponding object position point is smaller than the distance from the target position point to any one position point in the oncoming road.
For example, referring to fig. 5, when the target route is a polygonal line EFGJ, and the target position point sequence includes a position point J, a position point G, an interpolation point L, an interpolation point M, a position point F, an interpolation point N, and a position point E, since the position point J and the position point E are end points in the target route, both the position point J and the position point E are used as target position points, and since the interpolation point L, the interpolation point M, and the interpolation point N are interpolation points obtained by interpolating the first position point sequence, both the interpolation point L, the interpolation point M, and the interpolation point N are used as target position points. The computer device determines, in accordance with the first short-distance condition, that an opposing position point corresponding to the position point J is a, an opposing position point corresponding to the position point E is K, an opposing position point corresponding to the interpolation point L is P, an opposing position point corresponding to the interpolation point M is Q, and an opposing position point corresponding to the interpolation point N is R in the opposing road.
Step 208, generating elevation consistency constraint conditions corresponding to each pair of target position points and object position points; and the elevation consistency constraint condition is used for indicating a condition which needs to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point.
Specifically, when a plurality of pairs of target position points and object position points are obtained, the computer device may generate an elevation consistency condition corresponding to each pair of target position points and opposing position points. The pair of target position point and opposite position point refers to a target position point and an opposite position point corresponding to the target position point. For example, referring to fig. 5, a pair of the target position point and the opposing position point may be a position point J and a position point a. The elevation consistency condition is used to indicate a condition that needs to be satisfied by a difference between the virtual elevation of the target location point and the virtual elevation of the corresponding opposing location point. For example, the elevation consistency condition may be used to indicate a condition that needs to be satisfied by a difference between the virtual elevation of the target position point J and the virtual elevation of the opposing position point a. The virtual elevation refers to the height of each point on a road displayed in the electronic map with respect to the ground.
In one embodiment, as described with reference to fig. 5, given that target position point J corresponds to opposing position point a, target position point L corresponds to opposing position point P, target position point M corresponds to opposing position point Q, target position point N corresponds to opposing position point R, and target position point E corresponds to opposing position point K, the computer device may obtain an elevation consistency constraint equation and generate the following five elevation consistency constraint conditions according to the obtained elevation consistency constraint equation.
Wherein the elevation consistency constraint formula obtained by the computer equipment is (P (phi) -P (gamma)) 2 ≤H 2 Wherein, P (Φ) represents the virtual elevation of the target position point, P (γ) represents the virtual elevation of the opposite position point, H is a preset elevation difference threshold, and the smaller the absolute value of H, the smaller the elevation difference, the better the elevation consistency.
Five elevation consistency constraint conditions generated according to the obtained formula are as follows:
(P j1 -P a2 ) 2 ≤H 2
(P l1 -P p2 ) 2 ≤H 2
(P m1 -P q2 ) 2 ≤H 2
(P n1 -P r2 ) 2 ≤H 2
(P e1 -P k2 ) 2 ≤H 2
wherein, P j1 、P a2 、P l1 、P p2 、P m1 、P q2 、P n1 、P r2 、P e1 、P k2 Virtual elevations for J, A, L, P, M, Q, N, R, E, K, respectively.
And step 210, determining a first virtual elevation of each target position point and a second virtual elevation of each alignment position point according to each elevation consistency constraint condition.
Specifically, the computer device obtains a first initial virtual elevation for each target location point and obtains a second initial virtual elevation for each opposing location point. According to the embodiment of the application, the acquisition sources of at least the first initial virtual elevation and the second initial virtual elevation are not limited, and the acquisition sources can be randomly generated or acquired by map data acquisition personnel. A unified mathematical model is established, the constraint condition of altitude consistency is considered through the mathematical model, the problem of virtual altitude generation is converted into the problem of mathematical optimization, and the optimal virtual altitude is obtained through the problem of mathematical optimization. More specifically, the computer device adjusts the acquired first initial virtual elevation and second initial virtual elevation through the data model to obtain a first virtual elevation of the target position point and a second virtual elevation of the opposite position point, and in the mathematical model, the virtual heights of the target position point and the corresponding opposite position point in the road meet the above-mentioned elevation consistency constraint condition.
In one embodiment, determining a first virtual elevation for each target location point and a second virtual elevation for each corresponding location point according to the elevation consistency constraints comprises: generating a distribution characteristic condition; the distribution characteristic conditions represent conditions required to be met by the virtual elevations of the target position points and the dispersion degrees of the virtual elevations of the orientation position points; and adjusting the first initial virtual elevation of each target position point and the second initial virtual elevation of each alignment position point according to the distribution characteristic conditions and the elevation consistency constraint conditions to obtain the first virtual elevation of each target position point and the second virtual elevation of each alignment position point.
Specifically, the virtual elevations of the target position points and the opposing position points in the road need not only satisfy the above-described elevation consistency constraint condition, but also desirably converge the virtual elevations of the respective target position points and the virtual elevations of the respective opposing position points as much as possible. Because, when the virtual elevations corresponding to the target position point and the opposite position point in the road are concentrated as much as possible, the computer device can render a high-quality visual effect. Therefore, while the height consistency constraint condition is satisfied, the distribution characteristic condition for representing the virtual height dispersion degree also needs to be satisfied.
When the target position point and the opposing position point are determined, the computer device may acquire the distribution feature information generating function and generate the distribution feature condition according to the distribution feature information generating function. The distribution characteristic information generating function is used for obtaining the dispersion degree of virtual elevations corresponding to the target position point and the opposite position point in the road, and the distribution characteristic condition is used for representing the condition required to be met by the dispersion degree. When the virtual elevations corresponding to the target position point and the opposite position point in the road are concentrated as much as possible, the computer device can render a high-quality visual effect, so that the distribution characteristic condition can be that the dispersion degree reaches the minimum value.
Further, the computer equipment adjusts the first initial virtual elevation of each target position point and the second initial virtual elevation of each alignment position point by using an open source convex optimization calculation library such as Ipopt, so that the finally obtained first virtual elevation of each target position point and the finally obtained second virtual elevation of each alignment position point not only meet the distribution characteristic conditions, but also meet the constraint conditions of consistency of each elevation.
In one embodiment, the distribution characteristic condition may be that the sum of squares of the virtual elevations of the location points is minimum. This is because the sum of squares of the virtual elevations approximates the variance of the virtual elevations, i.e., the sum of squares of the virtual elevations represents the degree of dispersion of the virtual elevations.
In one embodiment, the distribution characteristic information generation function may be ξ = Σ P 2 (μ λ ) λ =1,2. ξ in the distribution feature information generation function represents the dispersion degree value of each target position point and the virtual elevation of each orientation position point, also called distribution feature information, μ λ Represents the lambda-th position point, and the value range of lambda is [1, theta ]]Theta is the total number of target position points and alignment position points, P 2 (μ λ ) A virtual elevation representing a lambda position point, wherein the lambda position point can be a target position point or an opposing position point. The function generation distribution characteristic condition generated based on the distribution characteristic information generation function may be ξ = Σ P 2 (μ λ ) A minimum value is reached.
In the above embodiment, by generating the generated distribution characteristic conditions for representing the degree of dispersion, the first virtual elevation of each target location point and the second virtual elevation of each alignment location point may be obtained based on the generated distribution characteristic conditions and the elevation consistency constraint conditions, so that not only is the elevation difference between the uplink and downlink rendered based on the first virtual elevation and the second virtual elevation small, but also the rendering quality of the uplink and downlink can be improved.
In one embodiment, when the first virtual elevations of the target location points and the second virtual elevations of the second location points are obtained, the computer device may perform interpolation processing on the target road based on the first virtual elevations of the target location points to obtain third virtual elevations of the remaining location points in the target road. Correspondingly, the computer device may further perform interpolation processing on the subtended road based on the second virtual elevations of the second position points, so as to obtain fourth virtual elevations of the rest position points in the subtended road. And the computer equipment obtains the virtual elevation of the target road through the first virtual elevation and the third virtual elevation, and renders the target road according to the virtual elevation of the target road to obtain the target road shown in the electronic map. And the computer equipment obtains the virtual elevation of the opposite road according to the second virtual elevation and the fourth virtual elevation, and renders the opposite road according to the virtual elevation of the opposite road to obtain the opposite road shown in the electronic map.
In the above virtual elevation generation method, by determining a road matching section between the ascending road and the descending road, the target road and the oncoming road of the ascending road and the descending road may be determined based on the determined road matching section. By determining the target road section, a first position point sequence corresponding to the road matching road section in the target road section can be obtained, and by obtaining the first position point sequence, interpolation processing can be carried out on the first position point sequence, so that a target position point sequence comprising more abundant position points is obtained. By obtaining the target position point sequence, a plurality of target position points can be screened out from the target position point sequence, and the opposite position points corresponding to each target position point in the opposite road are determined, so that the elevation consistency constraint conditions corresponding to each pair of the target position points and the object position points can be generated, and the first virtual elevation of each target position point and the second virtual elevation of each opposite position point can be obtained through the generated plurality of elevation consistency constraint conditions. Because the elevation consistency constraint condition constrains the condition which needs to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point, the difference between the first virtual elevation and the corresponding second virtual elevation can meet the virtual elevation difference constrained by the elevation consistency constraint condition, so that the virtual elevation difference between the uplink road and the downlink road obtained by rendering based on the first virtual elevation and the second virtual elevation can be smaller than a certain elevation threshold value, and the current situation that the elevation difference between a pair of uplink road and downlink road in reality is not large is met.
In addition, the problem of ensuring the height consistency of the uplink and downlink roads can be converted into a mathematical optimization problem, so that the required original data are less, and the absolute elevation of the roads does not need to be acquired by using precision equipment, so that the information acquisition cost is greatly reduced, and the road virtual elevation data for lane-level navigation can be generated efficiently and in high quality.
In one embodiment, before determining the target road and the opposite road of the target road from the ascending road and the descending road based on the road matching section between the ascending road and the descending road in the road network, the method further includes a step of determining the road matching section, and the step of determining the road matching section includes: acquiring a road network, and identifying an uplink road and a downlink road in the road network; determining a first road route in an uplink and an end point of the first road route; determining a second road route in the downlink and the end point of the second road route; and determining a road matching section between the ascending road and the descending road according to the end point of the first road route and the end point of the second road route.
Specifically, the computer device acquires a road network, and identifies an up-road and a corresponding down-road in the acquired road network. Further, the computer device determines a first road route in the up-link and determines an end point of the first road route. The first road route may be any one of the links in the ascending roads, for example, the first road route may be a center line in the ascending roads. The end points of the first road route may be both side end points of the first road route, for example, the end points of the first road route may be a start point and an end point of the first road route. Accordingly, the computer device may also determine a second road route in the down road and determine an end point of the second road route. The second road route may also be any one of the descending roads, for example, a center line of the descending road, and the end points of the second road route may be a start point and an end point of the second road route. Further, the computer device determines a road matching section between the up road and the down road according to an end point of the first road route and an end point of the second road route. For example, the computer device may project an end point of a first road route into a down road and an end point of a second road route into an up road, and determine a road matching section between the up road and the down road according to the projection result.
In one embodiment, referring to fig. 3, when the first road route is a centerline of an ascending road, the first road route may be a broken line EFGH, wherein the position point E and the position point H are end points of the first road route. When the second road route is the center line of the down road, the second road route may be the polyline DCBA, where the location point D and the location point a are end points of the second road route. The computer device may project the position point E and the position point H to the down road, and project the position point D and the position point a to the up road, and according to the projection result, obtain a road matching section between the up road and the down road.
In one embodiment, the road matching section between the ascending road and the descending road comprises a first matching section and a second matching section; determining a road matching section between an ascending road and a descending road according to the end point of the first road route and the end point of the second road route, comprising: projecting the end point of the first road route to a downlink road to obtain a first projection point; projecting the end point of the second road route to the uplink road to obtain a second projection point; determining a first matching road section matched with the downlink road in the uplink road according to at least one of the end point of the first road route and the second projection point; and determining a second matching section matched with the uplink in the downlink according to at least one of the end point of the second road route and the first projection point.
Specifically, the computer device may project an end point of the first road route to the down road, resulting in a first projected point. For example, referring to fig. 3, when the end point E of the first road route is projected to the down road, the first projected point K may be obtained. As will be readily appreciated, since the end points of the first road route may include a start point and an end point, the computer device may project the start point and the end point of the first road route to the down road to obtain two first projected points, respectively. Correspondingly, the computer device may also project the end point of the second road route to the uplink road to obtain a second projected point. For example, referring to fig. 3, when the end point a of the second road route is projected to the ascending road, the second projected point J may be obtained. Because the end point of the second road route may include the starting point and the ending point, the computer device may respectively project the starting point and the ending point of the second road route to the uplink road to obtain two second projected points.
Further, the computer device determines a first matching section in the up road that matches the down road according to at least one of the end point of the first road route and the second projected point. For example, referring to fig. 3, the computer device may determine, according to the end point of the first road route and the second projected point, that the first matching section in the uplink road matching the downlink road is a section with the polyline EFGJ as the center line, where the location point J is the second projected point. The computer device determines a second matching section in the down road that matches the up road based on at least one of the end point of the second road route and the first projected point. For example, referring to fig. 3, the computer device may determine, according to the end point of the second road route and the first projected point, that the second matching section in the down road matching the up road is a section having the broken line ABCK as the center line, where the location point K is the first projected point.
In this embodiment, by obtaining the projection point, the first matching road section and the second matching road section can be accurately determined based on the projection point, and the accuracy of determining the road matching road section is improved.
In one embodiment, the end points of the first road route include a first start point and a first end point; determining a first matching section matched with the downlink in the uplink according to the end point of the first road route and the second projection point, wherein the first matching section comprises: determining a first matching section matched with the downlink road in the uplink road according to at least one of the end point of the first road route and the second projection point, wherein the first matching section comprises: under the condition that the first starting point and the first ending point are projected successfully, a road section which takes the first starting point and the first ending point as position points in two side lines is intercepted from the ascending road to obtain a first matching road section; under the condition that the first starting point or the first ending point is projected successfully, screening out a first target end point which is projected successfully from the first starting point and the first ending point, and intercepting a road section which takes the first target end point and the second projection point as position points in side lines on two sides from an ascending road to obtain a first matching road section; and under the condition that the first starting point and the first ending point are not projected successfully and the second starting point and the second ending point are projected successfully, intercepting a road section taking the second projection point of the second starting point and the second projection point of the second ending point as position points in side lines at two sides from the uplink to obtain a first matching road section.
Specifically, for convenience of description, a start point of the first road route is referred to as a first start point, an end point of the first road route is referred to as a first end point, a start point of the second road route is referred to as a second start point, and an end point of the second road route is referred to as a second end point. And the computer equipment screens out position points successfully projected to the downlink road from the first starting point and the first end point, takes the screened position points as a first target end point, screens out position points successfully projected to the uplink road from the second starting point and the second end point, and takes the screened position points as a second target end point. The successful projection means that the foot obtained by making a perpendicular line from the point to be projected to the road falls into the road. For example, referring to fig. 6 (a), when a perpendicular line is drawn through the position point E to the second road route of the downlink road, the perpendicular line is K, and the position point E falls into the second road route, the position point E may be the first target endpoint of the successful projection. When a perpendicular line is drawn to a second road route in the downlink road through the position point H, but the perpendicular line does not fall into the second road route, the position point H is not the first target end point.
When determining the first target endpoint, the computer device may determine a number of first target endpoints. When the number of the first target end points is 1, the computer device may consider that the projection of the first start point or the first end point is successful, and at this time, the computer device intercepts, from the ascending road, a road segment in which the second projection points corresponding to the first target end point and the second target end point are position points in two side edges, and obtains a first matching road segment. For example, referring to fig. 6 (a), the computer device cuts out, from the ascending road, a road segment in which the second projection point J corresponding to the first target endpoint E and the second target endpoint a is a position point in both side lines, obtains a first matching road segment, that is, obtains a road area in which the EFGJ is a center line, and takes the road area as the first matching road segment.
When the number of the first target end points is 2, it can be considered that the first start point and the first end point are both projected successfully, at this time, the computer device intercepts a road segment from the ascending road, where the first start point and the first end point are position points in two side edges, to obtain a first matching road segment, that is, the computer device directly takes the ascending road as the first matching road segment. For example, referring to (B) in fig. 6, the computer device takes a road area with EFGH as a center line as a first matching section.
When the number of the first target end points is 0, it can be considered that both the first starting point and the first end point are not projected successfully, at this time, the computer device determines the number of the second target end points, and when it is determined that the number of the second target end points is 2, it is considered that both the second starting point and the second end point are projected successfully, at this time, the computer device intercepts a road segment in which the second projection point of the second starting point and the second projection point of the second end point are position points in both side lines from the uplink road to obtain a first matching road segment, that is, the computer device intercepts a road segment in which the two second projection points are position points in both side lines from the uplink road to obtain a first matching road segment. For example, referring to (C) in fig. 6, the computer device takes a road area with KFGJ as a center line as the first matching link. FIG. 6 illustrates a schematic diagram of a first matching region in one embodiment.
In one embodiment, determining a second matching section in the down road matching the up road according to at least one of the end point of the second road route and the first projected point comprises: under the condition that the second starting point and the second ending point are projected successfully, a road section taking the second starting point and the second ending point as position points in side lines on two sides is intercepted from the descending road to obtain a second matching road section; under the condition that the projection of the second starting point or the second end point is successful, screening a second target end point which is successfully projected from the second starting point and the second end point, and intercepting a road section which takes the second target end point and the first projection point as position points in side lines on two sides from a downlink to obtain a second matching road section; and under the condition that the second starting point and the second ending point are not projected successfully and the first starting point and the first ending point are projected successfully, intercepting the road section which takes the first projection point of the first starting point and the first projection point of the first ending point as position points in the two side edges from the descending road to obtain a second matching road section. Similar to obtaining the first matching section, the computer device may also obtain the second matching section in the down road in the above manner.
In the embodiment, by determining the number of the endpoints with successful projection, the road interception mode can be selected in a targeted manner based on the determined number, so that the road matching section is accurately intercepted based on the determined road interception mode, and the probability of interception failure caused by selecting an unsuitable road interception mode is reduced.
In one embodiment, before performing interpolation processing on the first position point sequence corresponding to the matched road segment in the target road to obtain the target position point sequence of the target road, the method further includes: determining a target route corresponding to the road matching section in the target road, and determining an end point and an angular point in the target route; sequencing the end points and the corner points in the target route according to the position arrangement sequence of the end points and the corner points in the target route to obtain a first position point sequence; the method for obtaining the target position point sequence of the target road by performing interpolation processing on the first position point sequence of the corresponding road matching section in the target road comprises the following steps: and carrying out interpolation processing on the target route according to a preset interpolation interval to obtain a plurality of interpolation points, and integrating the plurality of interpolation points and the first position point sequence to obtain a target position point sequence.
Specifically, since the road matching section includes a target matching section in the target road, the target route in the target road corresponding to the road matching section refers to: the target of the target road matches the target route in the road segment. The target route may specifically be any one of the target matching road segments, for example, a center line of the target matching road segment. Further, because the target route can be regarded as a broken line, the computer device can identify the end points and the corner points of the target route, and sequence the end points and the corner points in the target route according to the sequence of the end points and the corner points in the target route to obtain the first position point sequence. For example, referring to fig. 5, when the target route in the target road is the polygonal line JGFE, the first position point sequence is [ position point J, position point G, position point F, position point E ].
Further, the computer device obtains a preset interpolation interval, performs interpolation processing on the target route according to the interpolation interval to obtain a plurality of interpolation points, and adds the interpolation points into the first position point sequence to obtain a target position point sequence. For example, when the computer device inserts the interpolation point L into the segment GF in the target route, the computer device may add the interpolation point L between the position point G and the position point F in the first position point sequence.
In this embodiment, by determining a target matching road segment corresponding to the road matching road segment in the target road, the target route may be obtained based on the determined target matching road segment, and thus the first position point sequence may be obtained by identifying the corner points and the end points of the target route. By determining the first position point sequence, the corresponding interpolation points can be added by taking the position points in the first position point sequence as a reference, so as to obtain a target position point sequence.
In one embodiment, a reference position point in the first sequence of position points and a subsequent position point located after the reference position point are determined; the length of a broken line formed by a target subsequence taking the reference position point as a starting point and taking the subsequent position point as an end point in the first position point sequence is greater than or equal to a preset interpolation interval; inserting at least one interpolation point in a fold line formed based on the target subsequence according to the interpolation interval; adding each interpolation point between a reference position point and a subsequent position point in the first position point sequence according to the position arrangement sequence of each interpolation point in a fold line formed by the target subsequence so as to update the first position point sequence; and taking the target interpolation point meeting the long-distance condition in the interpolation points as a new reference position point, entering the next round of interpolation process, returning to the step of determining the subsequent position point behind the reference position point and continuing to execute until the subsequent position point is the position point in the last sequence in the first position point sequence, the distance between the reference position point and the subsequent position point is less than or equal to the interpolation distance, and taking the finally updated first position sequence point as the target position point sequence.
Specifically, the computer device determines a reference position point in the first sequence of position points and a subsequent position point located after the reference position point. Wherein, the computer device can carry out a plurality of rounds of interpolation processes, and in the first round of interpolation process, the reference position point can be the first position point in the first position point sequence. The length of a broken line formed by a target subsequence taking the reference position point as a starting point and taking the subsequent position point as an end point in the first position point sequence is larger than or equal to a preset interpolation interval. For example, referring to fig. 5, in the first-pass interpolation process, when the interpolation interval is 5 meters, the reference position point is position point J, the length of the line segment formed by position point J and position point G is 3 meters, and the length of the line segment formed by position point G and position point F is 7 meters, it is determined that position point F is the subsequent position point, the target subsequence is [ position point J, position point G, position point F ], and since the length of the polyline JGF formed by the target subsequence is 10 meters, it is greater than the interpolation interval by 5 meters.
Further, the computer device inserts at least one interpolation point in a polygonal line formed by the target subsequence according to a preset interpolation interval, and obtains an interpolation coordinate corresponding to each interpolation point. For example, referring to fig. 5, in the first-pass interpolation process, the computer device inserts the interpolation point L and the interpolation point M into the polygonal line JGF formed by the target subsequence, so as to obtain interpolation coordinates of the interpolation point L and the interpolation point M. The interpolated coordinate refers to a coordinate of the interpolated point, which may be a relative coordinate, for example, a coordinate relative to the reference position point, or an absolute coordinate, for example, a coordinate calculated according to the coordinate of the reference position point, the interpolated distance, and the coordinate of the subsequent position point.
Further, the computer device adds each interpolation point in the first position point sequence according to the interpolation coordinate of each interpolation point, for example, the computer device determines an arrangement order of the interpolation points in the target route according to the interpolation coordinate of each interpolation point, and adds the interpolation points to the first position point sequence according to the determined arrangement order. And the computer equipment screens out target interpolation points meeting the remote condition from the generated at least one interpolation point, and uses the screened target interpolation points as new reference position points. Wherein, the interpolation points satisfying the long-distance condition refer to: and the interpolation point farthest from the reference position point in one round of interpolation process. For example, referring to fig. 5, when the interpolation points obtained in the first-pass interpolation process are the interpolation point L and the interpolation point M, the interpolation point M can be used as a new reference position point because the distance between the interpolation point M and the reference position point J is greater than the distance between the interpolation point L and the reference position point.
Further, the computer device enters the next round of interpolation process, determines a subsequent position point corresponding to the new reference position point, and inserts an interpolation point in a polygonal line formed by the target subsequence taking the reference position point as a starting point and taking the subsequent position point as an end point until the subsequent position point is the last sequential position point in the first position point sequence and the distance between the reference position point and the subsequent position point is less than or equal to the interpolation distance, thereby obtaining the target position point sequence.
In this embodiment, by performing multiple rounds of interpolation processing, each segment in the target route may be traversed based on the multiple rounds of interpolation processing, and an interpolation point is inserted at a position in each segment that meets the interpolation interval, so that the probability of missing interpolation may be reduced, and the comprehensiveness of interpolation may be improved.
In one embodiment, the step of determining the subsequent location point comprises: traversing the position points behind the reference position point in the first position point sequence according to the arrangement sequence of the position points in the first position point sequence; extracting a candidate subsequence taking the reference position point as a starting point and taking the currently traversed position point as an end point from the first position point sequence, and determining the length of a broken line formed by the candidate subsequence; and when the length of the broken line formed by the candidate sub-sequence is smaller than the interpolation interval, continuing traversing until the length of the broken line formed by the candidate sub-sequence extracted from the first position point sequence based on the currently traversed position point is larger than or equal to the interpolation interval, and taking the currently traversed position point in the first position point sequence as a subsequent position point.
Specifically, when a reference position point in the first position point sequence is determined and a subsequent position point corresponding to the reference position point needs to be determined, the computer device traverses the position points in the first position point sequence after the reference position point according to the arrangement order of the position points in the first position point sequence. For the currently traversed position point in the first position point sequence, the computer device extracts a candidate subsequence taking the reference position point as a starting point and the currently traversed position point as an end point from the first position point sequence, and determines the length of a polyline formed by each position point in the candidate subsequence. Further, the computer device determines whether the length of the polyline formed by the candidate subsequence is smaller than the interpolation interval, if the length of the polyline corresponding to the candidate subsequence is smaller than the interpolation interval, it is considered that the interpolation point cannot be inserted into the polyline formed by the candidate subsequence, at this time, the computer device continues traversing, obtains a next traversed position point in the first position point sequence, and uses the obtained next traversed position point as a currently traversed position point, and returns to the step of extracting the candidate subsequence with the reference position point as a starting point and the currently traversed position point as an end point from the first position point sequence, and continues to execute until the length of the polyline formed by the candidate subsequence extracted from the first position point sequence based on the currently traversed position point is greater than or equal to the interpolation interval, at this time, the computer device uses the currently traversed position point as a next position point.
For example, referring to fig. 5, when the computer device determines the position point J as the reference position point in the first round of interpolation, the computer device may start the traversal from the position point G and take the position point G as the currently traversed position point. And the computer equipment determines whether a line segment formed by the position point J and the position point G is larger than or equal to the interpolation distance, if so, the computer equipment continues traversing to obtain a position point F, and the position point F is used as the currently traversed position point. The computer device determines whether the length of the polyline JGF is greater than or equal to the interpolation interval, and if the length of the polyline JGF is greater than or equal to the interpolation interval, the computer device determines the position point F as a subsequent position point corresponding to the position point J.
In one embodiment, the computer device may obtain position point coordinates corresponding to each position point in the first sequence of position points, and determine the length of the polyline corresponding to the candidate subsequence based on the determined position point coordinates. The position point coordinates may be longitude and latitude coordinates determined by a satellite positioning system.
In one embodiment, the length of the polyline formed by the target subsequence taking the reference position point as the starting point and taking the next sequential position point as the end point in the first position point sequence is greater than or equal to the preset interpolation interval, and the length of the polyline formed by the intermediate subsequence taking the reference position point as the starting point and taking the next position point immediately before the next sequential position point as the end point in the first position point sequence is less than the interpolation interval.
In the above-described embodiment, by determining the subsequent position points corresponding to the reference position point based on the polyline length and the interpolation pitch, the length of the polyline constituted with the reference position point as the starting point and the subsequent position points as the end points can be made larger than or equal to the interpolation pitch, and thus, the interpolation point can be inserted into the polyline constituted with the reference position point as the starting point and the subsequent position points as the end points.
In one embodiment, inserting at least one interpolation point in a polyline formed based on the target subsequence according to an interpolation interval includes: when the number of the position points included in the target subsequence is larger than a number threshold, determining a preorder position point which is adjacent to and before a subsequent position point in the first position point sequence; acquiring the length of a broken line formed by intermediate subsequences which take the reference position point as a starting point and take the front position point as an end point in the first position point sequence; determining the interpolation coordinate of a first interpolation point in the current round of interpolation process according to the length and the interpolation interval of a broken line formed by the intermediate subsequence to obtain the first interpolation point; and sequentially inserting subsequent interpolation points into a line segment formed based on the first interpolation point and the subsequent position point according to the interpolation interval to obtain each subsequent interpolation point.
Specifically, when the number of position points included in the target subsequence is greater than the number threshold and a subsequent position point in the first sequence of position points is determined, the computer device may determine a previous position point in the first sequence of position points that is immediately adjacent to the subsequent position point, that is, the computer device determines a previous position point in the first sequence of position points that is adjacent to the subsequent position point and is located before the subsequent position point, and takes the determined previous position point as a preceding position point. The number threshold is specifically 2, that is, the determined preamble position point and the reference position point are not the same position point. Further, when inserting the first interpolation point in a round of interpolation process, the computer device obtains the length of a broken line formed by a middle subsequence taking the reference position point as a starting point and taking the front-end position point as an end point in the first position point sequence, determines the difference between the length of the broken line formed by the middle subsequence and the interpolation interval to obtain the difference length, and inserts the first interpolation point at the position away from the front-end position point difference length in a line segment formed by the front-end position point and the rear-end position point to obtain the interpolation coordinate of the first interpolation point. For example, referring to fig. 5, when the reference position point is J, the preamble position point is position point G, the subsequent position point is position point F, and the difference between the length of the polygonal line formed by the reference position point J and the preamble position point G and the interpolation interval is the difference length, the computer device interpolates the first interpolation point L at the difference length from the position point G.
Further, when a non-first interpolation point is inserted in a round of interpolation process, the computer equipment sequentially inserts subsequent interpolation points in a line segment formed on the basis of the first interpolation point and subsequent position points according to the interpolation interval to obtain interpolation coordinates corresponding to each subsequent interpolation point. For example, referring to fig. 5, after the first interpolation point G is inserted, the computer device inserts the interpolation point M in the line segment formed by the first interpolation point G and the subsequent position point F according to the interpolation interval, and thus, a round of interpolation process is completed.
It is easily understood that, in performing the next round of interpolation, the computer device may take the last generated interpolation point M as a new reference position point, determine a subsequent position point corresponding to the interpolation point M, and continue to insert the interpolation point in a polygonal line formed based on the interpolation point M, the subsequent position point, and a position point in the first sequence of position points located between the interpolation point M and the subsequent position point.
In one embodiment, sequentially inserting subsequent interpolation points into a line segment formed based on a first interpolation point and subsequent position points according to an interpolation interval to obtain interpolation coordinates corresponding to each subsequent interpolation point, including: and taking the first interpolation point as a starting point, and inserting an interpolation point at every interpolation interval in a line segment formed based on the first interpolation point and the subsequent position points to obtain interpolation coordinates corresponding to each subsequent interpolation point.
The computer device calculates the length of a line segment formed by the first interpolation point and the subsequent position point, and judges whether the length of the line segment formed by the first interpolation point and the subsequent position point is larger than or equal to the interpolation distance. If the interpolation distance is smaller than the interpolation distance, the subsequent interpolation point cannot be inserted into the line segment formed by the first interpolation point and the subsequent position point, and then the next round of interpolation process is started. If the length of the line segment formed by the first interpolation point and the subsequent position point is larger than or equal to the interpolation interval, the computer equipment inserts the subsequent interpolation point at the interpolation interval from the first interpolation point, and judges whether the length of the line segment formed by the reference subsequent interpolation point and the subsequent position point is larger than or equal to the interpolation interval or not by taking the inserted subsequent interpolation point as the reference subsequent interpolation point. If the distance between the subsequent interpolation point and the reference subsequent interpolation point is larger than or equal to the interpolation distance, the computer equipment inserts a subsequent interpolation point again at the position of the interpolation distance from the subsequent interpolation point of the reference, takes the subsequent interpolation point inserted again as a new subsequent interpolation point of the reference, and returns to the step of judging whether the length of the line segment formed by the subsequent interpolation point of the reference and the subsequent position point is larger than or equal to the interpolation distance to continue to execute until the line segment formed by the subsequent interpolation point of the reference and the subsequent position point is smaller than the interpolation distance.
In the above embodiment, by determining the length of the polyline, the coordinates of the interpolation point to be inserted may be determined based on the polyline length, and thus, the interpolation point may be obtained based on the determined coordinates of the interpolation point.
In one embodiment, when the number of position points included in the target subsequence is equal to the number threshold, the computer device sequentially inserts the interpolation points in a line segment formed based on the reference position point and the subsequent position points according to the interpolation interval, and obtains interpolation coordinates corresponding to the interpolation points. The number threshold may be specifically 2, that is, when the target subsequence only includes the reference position point and the subsequent position point, the computer device sequentially inserts the interpolation points in a line segment formed based on the reference position point and the subsequent position point according to the interpolation interval. That is, the computer device inserts an interpolation point at every interpolation interval in a line segment formed based on the reference position point and the subsequent position point, and obtains interpolation coordinates corresponding to the interpolation points.
In one embodiment, determining the interpolation coordinate of the first interpolation point in the current round of interpolation process according to the length and the interpolation interval of the polyline formed by the intermediate subsequence includes: determining the difference between the length of a broken line formed by the middle subsequence and the interpolation distance to obtain the difference length, and taking the difference length as the distance between the first interpolation point and the preorder position point in the current round of interpolation process; and obtaining the interpolation coordinate of the first interpolation point in the current round interpolation process according to the first position coordinate of the preorder position point, the second position coordinate of the postorder position point and the distance between the first interpolation point and the preorder position point in the current round interpolation process.
Specifically, the computer device determines the length of the polyline formed by the intermediate subsequence, and subtracts the length of the polyline formed by the intermediate subsequence from the interpolation interval to obtain a difference length. Furthermore, the computer device inserts a first interpolation point at the position apart from the difference length of the preorder position point in a line segment formed by the preorder position point and the postorder position point to obtain an interpolation coordinate of the first interpolation point. For example, referring to fig. 5, when the interpolation interval is 5 meters and the length of the line segment formed by the reference position point J and the preamble position point G is 3 meters, the computer apparatus may insert the first interpolation point L at 2 meters from the preamble position point G.
In one embodiment, obtaining the interpolation coordinate of the first interpolation point in the current round of interpolation process according to the first position coordinate of the preamble position point, the second position coordinate of the subsequent position point, and the distance between the first interpolation point and the preamble position point in the current round of interpolation process includes: determining the ratio of the length of a line segment formed by the preorder position point and the postorder position point to the difference length to obtain a length ratio; acquiring a first position coordinate of a preorder position point and a second position coordinate of a postorder position point; determining a coordinate difference between the first position coordinate and the second position coordinate; carrying out coordinate fusion on the length ratio and the coordinate difference value to obtain a fusion coordinate; and superposing the first position coordinate and the fusion coordinate to obtain the interpolation coordinate of the first interpolation point in the current round of interpolation process.
Specifically, when determining the preceding and following position points, and determining the distance of the first interpolation point to be inserted from the preceding position point, the computer apparatus may determine the interpolation coordinates of the first interpolation point in the following manner. When the interpolation coordinate needs to be determined, the computer equipment acquires the first position coordinate of the preorder position point and the second position coordinate of the postorder position point, and subtracts the first coordinate from the second coordinate to obtain a coordinate difference value. And the computer equipment determines the length of the line segment formed by the preorder position point and the postorder position point according to the first position coordinate and the second position coordinate, and divides the length of the difference value by the length of the line segment formed by the preorder position point and the postorder position point to obtain the length ratio. Further, the computer device multiplies the length ratio by the coordinate difference value to perform coordinate fusion on the length ratio and the coordinate difference value to obtain a fusion coordinate, and superimposes the first position coordinate of the preamble position point and the fusion coordinate to obtain the interpolation coordinate of the first interpolation point.
In one embodiment, the computer device may determine the interpolated coordinates of the first interpolated point by the following equation:
p.x＝p1.x+d/D(p2.x-p1.x)
p.y＝p1.y+d/D(p2.y-p1.y)
p.z＝p1.z+d/D(p2.z-p1.z)
wherein, p.x is the coordinate of the first interpolation point on the x axis, p.y is the coordinate of the first interpolation point on the y axis, and p.z is the coordinate of the first interpolation point on the z axis. D is the difference length, D is the length of the line segment formed by the preceding position point and the following position point, (p 1.X, p1.Y, p1. Z) is the first position coordinate, and (p 2.X, p2.Y, p2. Z) is the second position coordinate.
In the above embodiment, a plurality of target position points can be obtained by performing interpolation processing on the target route according to the interpolation distance, so that the number of the target position points is increased. By increasing the number of target location points, the number of generated elevation consistency conditions can be increased, and thus more accurate virtual elevations of the uplink road and the downlink road can be obtained based on the plurality of elevation consistency conditions.
In one embodiment, referring to FIG. 7, FIG. 7 shows a flow chart of interpolation in a first sequence of location points according to an interpolation interval in one embodiment. S701 acquires the first position point sequence line and the interpolation distance D, S702 sets the index variable index =1, and sets the remaining distance tmpDis = 0. S703 adds the first position point in the first position point sequence to the result point string result. S704 determines whether the value of the index variable index is smaller than the number of position points included in the first position point sequence, that is, whether the index is smaller than line. S705, if the value of the index variable index is smaller than the number of position points included in the first position point sequence, obtaining an index-1 position point in the first position point sequence line, which is denoted as p1, and obtaining an index-2 position point in the first position point sequence line, which is denoted as p2. S706 calculates the length of the line segment formed by P1 and P2 to obtain d, i.e., calculates d = Distance (P1, P2). S707 determines whether the sum of the lengths D of the line segments formed by the remaining distances tmpDis, P1, and P2 is smaller than the interpolation distance D, that is, whether tmpDis + D is smaller than D. S708 determines that the interpolation point cannot be inserted into the segment formed by P1 and P2 if tmpDis + D is smaller than D, at this time, the computer device updates the remaining distance by the formula tmpDis = tmpDis + D, and S709 increments the index variable index by 1, that is, index = index +1, and returns to step S704. S710, if tmpDI + D is larger than or equal to D, the computer device inserts an interpolation point into a line segment formed by p1 and p2 at the length of the p1 point D-tmpDI, and records the interpolation point as tmpPoint, and adds the tmpPoint into the result point string result. S711 the computer device updates the remaining Distance by the formula tmpDis = Distance (tmpPoint, p 2), where Distance represents a Distance between two points, that is, represents a length of a line segment formed by the two points. S712 the computer device determines whether tmpDis is greater than or equal to the interpolation pitch D, and if tmpDis is less than the interpolation pitch D, returns to step S709. S713, if tmpDI is larger than or equal to the interpolation distance D, the computer device inserts an interpolation point into a line segment formed by tmpPoint and p2 at the distance of the tmpPoint interpolation distance D, and the interpolation point is recorded as tmpPoint, and the tmpPoint is added into the result point string result. S714 the computer device updates the remaining distance by the formula tmpDis = tmpDis-D and returns to step S712 to continue execution. S715, if the value of the index variable index is greater than or equal to the number of position points included in the first position point sequence, the computer device determines whether the value of tmpDis is 0, and if the value of tmpDis is 0, the computer device obtains the result point string and takes the result point string as the target position point sequence. S716, if the value of tmpDis is not 0, the computer device adds the last position point in the first sequence of position points to the result point string result, and S717 takes the result point string result as the target sequence of position points.
In one embodiment, referring to FIG. 8, FIG. 8 illustrates a flow diagram of an insertion point in one embodiment. The computer device may insert a point at a distance between the two location points from the starting location point. S801 obtains a start point P1 and an end point P2, and S802 obtains a distance d from the interpolation point P1. S803 the computer device calculates the Distance D between p1 and p2 by the formula D = Distance (p 1, p 2). S804 according to the formula: p.x = p1.X + D/D (p 2.X-p1. X); p.y = p1.Y + D/D (p2. Y-p1. Y); p.z = p1.Z + D/D (p 2.Z-p1. Z) calculates the interpolated coordinates of the interpolation point p. Wherein, (P1. X, P1.Y, P1. Z) is the position coordinate of the start point P1, (P2. X, P2.Y, P2. Z) is the position coordinate of the end point P2, p.x is the coordinate of the interpolation point P on the x-axis, p.y is the coordinate of the interpolation point P on the y-axis, and p.z is the coordinate of the interpolation point P on the z-axis. S805 the computer device returns the interpolated coordinates of the interpolated point p.
In one embodiment, determining the corresponding opposite position point in the opposite road for each target position point comprises: for each of the plurality of target position points, a position point in the oncoming road for which the distance from the current target position point satisfies the first short-distance condition is taken as an oncoming position point corresponding to the current target position point.
Specifically, when a plurality of target position points are obtained, for each of the plurality of target position points, the computer device determines an opposite position point corresponding to each of the target position points in the opposite road, wherein the distance between the target position point and the corresponding opposite position point satisfies a first short-distance condition. Wherein the first short-distance condition refers to that the distance between the target position point and the corresponding object position point is smaller than the distance from the target position point to any one position point in the opposite road.
In one embodiment, the computer device may sequentially determine the respective opposite position points of the target position points, and the computer device may also simultaneously determine the respective opposite position points of each target position point.
In the above embodiment, by using the position point satisfying the first short-distance condition in the oncoming road as the oncoming position point corresponding to the target position point, the difference between the virtual elevations of the two position points having the shortest distance and between the upstream road and the downstream road rendered based on the determined target position point and the corresponding oncoming position point can be within a reasonable range, so that the rendered upstream road and downstream road are more reasonable.
In one embodiment, regarding a position point in the oncoming road, for which a distance from the current target position point satisfies a first short-distance condition, as an oncoming position point corresponding to the current target position point, the method includes: when the current target position point is an interpolation point obtained by performing interpolation processing on the first position point sequence, projecting the current target position point to an opposite road to obtain a third projection point, and taking the third projection point as an opposite position point corresponding to the current target position point; and when the current target position point is the sequence endpoint of the first position point sequence, acquiring a second position point sequence of the corresponding road matching section in the opposite road, and screening the opposite position point corresponding to the current target position point from the second position point sequence.
Specifically, the computer device may sequentially determine the opposite position points corresponding to the target position points, and the computer device may also determine the opposite position points corresponding to each target position point at the same time. Since the target position point may be an interpolated point obtained by interpolating the first position point sequence, or may be a sequence endpoint in the first position point sequence, when the current target position point is an interpolated point obtained by interpolating the first position point sequence, the computer device may project the current target position point to the opposite road to obtain a third projected point, and use the third projected point as an opposite position point corresponding to the current target position point. For example, referring to fig. 5, if the current target location point is the interpolation point L, the computer device projects the interpolation point L to the opposite road to obtain a third projection point P, and uses the third projection point P as the opposite location point of the interpolation point L.
And if the current target position point is the sequence endpoint of the first position point sequence, the computer equipment determines a second position point sequence of the corresponding road matching section in the opposite road, and screens out the opposite position point corresponding to the current target position point from the second position point sequence. Wherein, the sequence end point refers to the starting point or the ending point in the position point sequence. For example, referring to fig. 5, when the current target location point is location point E, since location point E is the end point in the first location point sequence, the computer device searches for the opposite location point corresponding to location point E from the second location point sequence.
In one embodiment, when determining the road matching segments, the computer device may determine a segment located in the subtended road from among the road matching segments and may regard the segment located in the subtended road from among the road matching segments as the subtended matching segment. The computer device determines an opposite route in the opposite matching road section, identifies corner points and end points in the opposite route, and takes the identified corner points and end points as position points in the second position point sequence. The opposite direction route can be any one of the opposite direction matching road sections, for example, the opposite direction route can be a central line in the opposite direction matching road section. For example, referring to fig. 5, a road area with a broken line ABCK as a center line may be an opposite matching road segment, and the broken line ABCK may be an opposite route. Easily understood, when the object road is an ascending road, the opposite matching road section is the first matching road section; and when the opposite road is a downlink road, the opposite matching road section is the second matching road section.
In one embodiment, when the current target position point is a sequence endpoint in the first position point sequence, the computer device may search a position point closest to the current target position point from the second position point sequence, and use the searched position point as an opposite position point corresponding to the current target position point. For example, referring to fig. 5, when the current target location point is the location point E, the computer device determines that a location point closest to the location point E in the second location point sequence is the location point K, and thus takes the location point K obtained by searching as an opposite location point corresponding to the location point E.
In one embodiment, if the current target position point is a starting point in the first position point sequence, the computer device takes the starting point in the second position point sequence as an opposite position point corresponding to the current target position point; and if the current target position point is the termination point in the first position point sequence, the computer device takes the termination point in the second position point sequence as the opposite position point corresponding to the current target position point.
In the above embodiment, when the current target location point is a sequence endpoint in the first location point sequence, the opposite location point corresponding to the current target location point may be directly screened from the second location point sequence, so that, compared with obtaining the opposite location point through projection, the determination efficiency of the opposite location point is improved.
In one embodiment, projecting the current target location point to the opposite road to obtain a third projection point includes: acquiring a second position point sequence corresponding to the road matching section in the opposite road; dividing the opposite route in the opposite road through the position points in the second position point sequence to obtain a plurality of route segments; for each of the plurality of route segments, making a perpendicular line to the current route segment through the current target position point to obtain a middle drop foot, and taking the middle drop foot as a candidate drop foot when the middle drop foot falls into the current route segment; screening out a target foot closest to the current target position point from the candidate feet; and determining a third projection point corresponding to the current target position point according to the target foot.
Specifically, the computer device acquires a second position point sequence, and divides the opposite road according to the position coordinates of each position point in the second position point sequence in the opposite road to obtain a plurality of route line segments. For example, referring to fig. 5, when the second sequence of location points includes location point a, location point B, location point C, and location point K, the computer device may divide the opposite route into route segments a through B, route segments B through C, and route segments C through K based on location point a, location point B, location point C, and location point K.
Further, the computer device makes a perpendicular line to each of the plurality of route segments through the current target position point to obtain a middle drop foot, and determines whether the obtained middle drop foot falls into the corresponding route segment, and if the obtained middle drop foot falls into the corresponding route segment, the middle drop foot is used as a candidate drop foot. For example, referring to fig. 8, when the current target location point is location point a and the plurality of route segments include route segments H to G, route segments G to F, and route segments F to E, the computer device may make vertical lines to the route segments H to G, the route segments G to F, and the route segments F to E through the location point a, respectively. Since the drop foot P1 obtained by making a perpendicular line to the route line segments H to G through the position point a falls into the route line segments H to G, the drop foot P1 is taken as a candidate drop foot; when the drop foot P2 obtained by making a perpendicular line to the route segments F to E through the position point a falls into the route segments F to E, the drop foot P2 is therefore taken as a candidate drop foot.
Further, the computer takes, as a target foot, a foot closest to the current target position point among the plurality of candidate feet. For example, referring to fig. 9, since the distance between the candidate foot P1 and the current target position point is smaller than the distance between the candidate foot P2 and the current target position point, the candidate foot P1 is set as the target foot. And the computer equipment determines a third projection point corresponding to the current target position point according to the target foot. For example, the computer device sets the target foot as the third projection point corresponding to the current target position point. Figure 9 shows a schematic view of a drop foot in one embodiment.
In this embodiment, by using the candidate foot with the closest distance as the target foot, it is possible to obtain a subtended position point satisfying the first short-distance condition with the current target position point based on the determined target foot.
In one implementation, determining a third projection point corresponding to the current target location point according to the target foot, includes: determining the distance between the current target position point and each position point in the second position point sequence respectively to obtain a plurality of candidate distances; screening target distances meeting a second short-distance condition from the plurality of candidate distances; and when the distance between the target foot and the current target position point is less than or equal to the target distance, taking the target foot as a third projection point corresponding to the current target position point.
Specifically, the computer device may calculate distances between the current target location point and each location point in the second sequence of location points, respectively, resulting in a plurality of candidate distances. For example, referring to fig. 10, when the current target location point is location point a, and the second location point sequence includes location point H, location point G, location point F, and location point E in the opposite route, the computer device calculates distances between location point a and location points H, G, F, and E, respectively, to obtain a plurality of candidate distances. Further, the computer device screens out a target distance satisfying the second short-distance condition from the plurality of candidate distances. The second short-distance condition may specifically be a shortest distance among the plurality of candidate distance sieves, and therefore, the computer device takes the shortest distance among the plurality of candidate distances as the target distance.
Further, the computer device determines whether the distance between the target foot and the current target location point is greater than the target distance. If the distance is greater than the target distance, the computer equipment judges that the projection of the current target position point fails and does not have a corresponding third projection point. And if the distance is smaller than or equal to the target distance, the computer equipment takes the position point where the target foot is located as a third projection point corresponding to the current target position point. For example, referring to fig. 10, since the distance between the position point a and the target foot P is greater than the distance between the position point a and the position point H, it is determined that the projection of the position point a fails. FIG. 10 illustrates a schematic of a projection failure in one embodiment.
It should be noted that the computer device may also project the end point in the first road to the downlink road according to the above method to obtain a first projection point of successful projection; and projecting the end point in the second road to the uplink road to obtain a second projection point which is successfully projected.
In this embodiment, since the distance between the target position point and the corresponding opposing position point needs to satisfy the first short-distance condition, when the distance between the target foot and the current target position point is greater than the target distance, it may be considered that the distance between the opposing position point determined based on the target foot and the corresponding target position point does not satisfy the first short-distance condition, and thus, at this time, determining the target position point as a projection failure may reduce a subsequent process of generating an elevation consistency condition based on an erroneous opposing position point, thereby saving resources of the computer and the like required for generating the elevation consistency condition.
In one embodiment, referring to FIG. 11, FIG. 11 shows a schematic flow chart of projecting location points to polylines in one embodiment. S1101 makes a perpendicular line to a route line segment formed by any two adjacent position points on the broken line segment through the position point P. S1102 classifies the footholds falling into the corresponding route line segment into a set of candidate footholds. S1103 the computer device determines whether the candidate drop-foot set is an empty set. If S1104 is an empty set, it is determined that the position point P cannot be projected onto the polygonal line, and it is determined that the projection has failed. S1105 the computer device calculates the foot in the candidate foot set closest to the position point P, and marks the foot as the target foot F, and obtains the distance D1 between the position point P and the target foot F. S1106, the computer equipment calculates the minimum value of the distances between the position point P and each end point and corner point in the polyline to obtain a target distance D2. S1107 the computer equipment judges whether the distance D1 between the position point P and the target foot F is greater than the target distance D2, if so, the position point P cannot be projected to the broken line. If the distance is less than or equal to the target distance D2, the target foot F is determined to be a projection point of the position point P to the broken line segment.
In one embodiment, the method further includes: acquiring at least one associated position point pair of a road from a road network, and determining the position association relation between the position points included in each associated position point pair; generating a virtual elevation constraint condition set corresponding to at least one associated position point pair according to the position association relation; the virtual elevation constraint condition set at least comprises one of a capping area constraint condition, an adjacent height continuous constraint condition and a gradient constraint condition; determining a first virtual elevation of each target position point and a second virtual elevation of each alignment position point according to each elevation consistency constraint condition, wherein the method comprises the following steps: and determining a first virtual elevation of each target position point, a second virtual elevation of each alignment position point and a third virtual elevation corresponding to the position point included in each associated position point pair respectively based on the virtual elevation constraint condition set and the elevation consistency constraint condition.
Specifically, in order to further improve the rationality of the generated virtual elevation of the uplink road and the virtual elevation of the downlink road, the computer device may further generate a virtual elevation constraint condition, and synthesize the virtual elevation constraint condition and the elevation consistency constraint condition to obtain the virtual elevation of the uplink road and the virtual elevation of the downlink road. The computer device may generate the virtual elevation constraint based on a height relationship of the road, a gradient of the road, and whether a sudden change occurs in a height of the two front and rear roads at the junction.
For example, referring to fig. 12, in the process of electronic map rendering, an upper road may overlap with a lower road due to a wrong height relationship between roads. Among them, the high-low relationship error of the road is also called a gland relationship error. The gland relation is as follows: if one road is above the other road, the two roads are said to have a capping relationship, and the road above the capping relationship is the road below the capping relationship. FIG. 12 illustrates a schematic diagram of a gland relationship error in one embodiment.
Referring to fig. 13, during the electronic map rendering process, a road may be steeply dropped due to an error in calculating the virtual elevation of the road gradient. Fig. 13 shows a schematic view of a road steepness drop in one embodiment. Referring to fig. 14, during the process of rendering the electronic map, the road junctions may be unsmooth and have abrupt changes due to the error calculation of the virtual elevation at the road junctions. FIG. 14 illustrates a non-smooth road junction in one embodiment. Referring to fig. 15, during the process of electronic map rendering, there may also be a height difference between the uplink and the downlink due to an error in calculating the virtual elevation of the uplink and the virtual elevation of the downlink. FIG. 15 shows a schematic diagram of the difference in elevation between an up-link and a down-link in one embodiment.
Therefore, in order to enable the finally rendered ascending road and descending road to meet the four conditions, the computer device may generate a virtual elevation constraint condition set based on three requirements that "the up-down relationship of the roads, i.e. the capping relationship, needs to be consistent with the real world, the road gradient needs to be smooth, the heights of the front road and the rear road at the junction point need to be continuous and the heights of the front road and the rear road near the junction point need to be smooth", and generate an elevation consistency constraint condition based on a requirement that the difference value of the virtual elevations of the ascending road and the descending road is smaller than the difference threshold value. And synthesizing the virtual elevation constraint condition set and the elevation consistency constraint condition to obtain more reasonable uplink roads and downlink roads.
In one embodiment, when the virtual elevation constraint set needs to be generated, the computer device may obtain at least one associated pair of location points of the road from the road network, and determine a location association relationship between the location points included in each associated pair of location points. For example, referring to fig. 16, fig. 16 shows the centerlines of five roads (link 1, link2, link3, link4, and link 5), where link1, link2, and link3 intersect at position point a, position point B, and position point C, respectively, link2 and link4 are contiguous at position point D, link4 is an up-link, and link5 is a down-link. If link2 is higher than link3 at the position point a, link1 is higher than link2 at the position point B, and link1 is higher than link3 at the position point C, the position points a in link2 and link3 are a pair of associated position points, that is, a2 and a3 are an associated position point pair, and the position association relationship of the associated position points is a gland association relationship; wherein a2 represents the position point a in link2, and a3 represents the position point a in link3, which are similar to each other and will not be described herein again.
Correspondingly, the position point B in link1 and the position point B in link2 are a correlated position point pair, that is, B1 and B2 are a correlated position point pair, and the position correlation of the correlated position point pair is a gland relationship. The position point C in link1 and the position point C in link3 are also an associated position point-to-point relationship, that is, C1 and C3 are an associated position point pair, and the position association relationship of the associated position point pair is a gland relationship.
If link2 and link4 are adjacent to each other at position point D, position point D in link2 and position point D in link4 are an associated position point pair, that is, D2 and D4 are an associated position point pair, and the position association relationship of the associated position point pair is an adjacent association relationship. For link1, it is divided into three segments by position points B and C, so that position point F in link1 and position point C in link1 are a correlated position point pair, that is, F1 and C1 are a correlated position point pair, position point C in link1 and position point B in link1 are a correlated position point pair, that is, C1 and B1 are a correlated position point pair, position point B in link1 and position point J in link1 are a correlated position point pair, that is, B1 and J1 are a correlated position point pair, and the position correlation of the correlated position point pairs is a gradient correlation.
Further, when determining the positional associations between the location points included in each pair of associated location points, the computer device may generate a corresponding set of virtual elevation constraints for at least one associated location point pair based on the positional associations. It will be appreciated that a pair of associated location points has only one positional association, and thus the computer device may generate a virtual elevation constraint based on a pair of associated location points and the positional association it has. Wherein, an associated position point pair with gland association relation needs to satisfy the gland area constraint condition: p alpha-P beta > h. The capping area constraint condition is used for representing the up-down relation of the road, namely the capping relation needs to be consistent with the real world.
Wherein α and β in the formula represent two position points having a gland association relationship, and the navigation data represents that the position point α is located above the position point β, and the letter "P" in the present application represents a virtual elevation, which is not explained and described in detail. h represents the minimum height of the gland area, namely the target height difference, which can be set according to practical application scenes, and it is more reasonable to find that the target height difference is 4 meters in the test, and the too low h can cause the two roads of the gland area to overlap together, so that the visual effect is poor.
Referring to fig. 16, when the association relationships between the associated position points a2 and a3, b1 and b2, and c1 and c3 are gland association relationships, and the position point a2 is located above the position point a3, the position point b1 is located above the position point b2, and the position point c1 is located above the position point c3, the computer device may generate three specific gland region constraints in combination with the formula P α -P β > h:
Pa2-Pa3>h
Pb1-Pb2>h
Pc1-Pc3>h
wherein, an associated position point pair having an adjacency relation needs to satisfy an adjacency height continuity constraint condition, which can be expressed by the formula P ∈ = P δ.
Wherein epsilon and delta in the formula represent two associated location points having a contiguous association relationship, and the letter "P" represents a virtual elevation. For two roads that are adjacent, they need to be continuous at the adjacent point, otherwise, the situation that the height of the adjacent point is abrupt, i.e. high or low, will occur, and the visual effect is affected.
As described in conjunction with fig. 16, since link2 and link4 are known to be adjacent at point D, the computer device can generate a specific adjacent height continuous constraint according to the formula P ∈ = P δ: pd2= Pd4.
Wherein, the target position point pair with the gradient incidence relation needs to satisfy the gradient constraint condition which can be expressed by a formula (p theta-p gamma) 2 <S 2 d 2 And (theta, gamma).
Theta and gamma in the formula represent a correlation position point pair with a gradient correlation relation, the letter P represents a virtual elevation, S represents a tangent value of a maximum gradient (namely a target gradient), the tangent value can be set according to an actual application scene, the maximum gradient is found to be reasonable in an angle of 1 in a test, and d is found to be reasonable 2 (θ, γ) represents the distance on the plane of the target position point θ and the target position point γ. Since the navigation data provides longitude and latitude coordinates, i.e., two-dimensional position information, the two-dimensional position information between two position points can be calculated to obtain a distance, and thus d 2 (θ, γ) is a known quantity. If the shape of the road is curved, the plane distance is the arc length.
Referring to fig. 16, it is known that the road link1 is divided into three sections by the position points B and C, and therefore, each section should satisfy the slope constraint condition, that is, when f1 and C1 are an associated position point pair, C1 and B1 are an associated position point pair, B1 and j1 are an associated position point pair, and the position association relationship of the position points in the associated position point pair is a slope association relationship, in this case, the computer device may be according to the formula (p θ -p γ) 2 <S 2 d 2 (θ, γ), three specific slope constraints are generated:
(Pf1-Pc1) 2 <S 2 d 2 (f1,c1)
(Pc1-Pb1) 2 <S 2 d 2 (c1,b1)
(Pb1-Pj1) 2 <S 2 d 2 (b1,j1)
similarly, each road segment in the road link2 should satisfy the gradient constraint condition:
(Ph2-Pb2) 2 <S 2 d 2 (h2,b2)
(Pb2-Pa2) 2 <S 2 d 2 (b2,a2)
(Pa2-Pd2) 2 <S 2 d 2 (a2,d2)
each road segment in the road link3 should satisfy the gradient constraint condition:
(Pg3-Pc3) 2 <S 2 d 2 (g3,c3)
(Pc3-Pa3) 2 <S 2 d 2 (c3,a3)
(Pa3-Pk3) 2 <S 2 d 2 (a3,k3)
each road segment in the road link4 should satisfy the gradient constraint condition:
(Pd4-Pp4) 2 <S 2 d 2 (d4,p4)
(Pp4-Pq4) 2 <S 2 d 2 (p4,q4)
(Pq4-Pe4) 2 <S 2 d 2 (q4,e4)
each road segment in the road link5 should satisfy the gradient constraint condition:
(Pl5-Pr5) 2 <S 2 d 2 (l5,r5)
(Pr5-Ps5) 2 <S 2 d 2 (r5,s5)
(Ps5-Pu5) 2 <S 2 d 2 (s5,u5)
(Pu5-Pv5) 2 <S 2 d 2 (u5,v5)
(Pu5-Pn5) 2 <S 2 d 2 (u5,n5)
further, the computer device generates a plurality of elevation consistency conditions according to the virtual elevation generation manner in the embodiment, for example, referring to fig. 16, when r5, s5, u5, and v5 are all target position points, and d4, p4, q4, and e4 are all subtended position points, the generated elevation consistency constraint conditions are:
(Pd4-Pr5) 2 <H
(Pp4-Ps5) 2 <H 2
(Pq4-Pu5) 2 <H 2
(Pe4-Pv5) 2 <H 2
the height difference is smaller, and the height consistency is better. The letter "P" represents a virtual elevation.
And the computer equipment synthesizes the virtual elevation constraint condition set and the elevation consistency constraint condition to determine a first virtual elevation of each target position point, a second virtual elevation of each alignment position point and a third virtual elevation corresponding to the position point included in each pair of associated position points.
In one embodiment, the computer device may also generate a distribution characteristic, such as, for example, referring to FIG. 16, the computer device may generate a set of values that characterize a degree of dispersion V between the virtual elevation of the associated location point, the virtual elevation of the target location point, and the virtual elevation of the subtended location point:
V＝Pf1 2 +Pc1 2 +Pb1 2 +Pj1 2 +Ph2 2 +Pb2 2 +Pa2 2 +Pd2 2 +Pg3 2 +Pc3 2 +Pa3 2 +Pk3 2 +Pd4 2 +Pq4 2 +Pg4 2 +Pl5 2 +Pr5 2 +Ps5 2 +Pu5 2 +Pv5 2 +Pn5 2
where the letter "P" represents a virtual elevation, and f1 to n5 are position points in the road network of fig. 16.
Further, the computer device generates corresponding distribution characteristic conditions based on the dispersion degree V, and adjusts the initial virtual elevations of each target location point, each alignment location point, and each associated location point according to the distribution characteristic conditions, the virtual elevation constraint condition set, and the multiple elevation consistency constraint conditions, so that the adjusted virtual elevations not only satisfy the virtual elevation constraint condition set and the multiple elevation consistency constraint conditions, but also reach the minimum value of the dispersion degree corresponding to the adjusted virtual elevations.
In the embodiment, the initial virtual elevation is adjusted by synthesizing the virtual elevation constraint condition and the elevation consistency condition, so that the adjusted virtual elevation can be more reasonable, and the phenomena of one-high one-low, unsmooth joint, abrupt drop of the road, inconsistency of the capping relationship with the real world and the like of the uplink road, the downlink road and other roads associated with the uplink road and the downlink road obtained based on the rendering of the virtual elevation are reduced. FIG. 16 shows a schematic representation of road network in one embodiment.
In one embodiment, referring to FIG. 17, FIG. 17 illustrates an overall flow diagram of generating a virtual elevation in one embodiment. S1701 the computer device constructs a capping area constraint condition according to the height relation of the capping area road. S1702 the computer device constructs the continuous constraint condition of the adjacent height of two roads at the adjacent point according to the road topological relation S1703 the computer device constructs the gradient constraint condition between any two adjacent associated position points on the roads. The S1704 computer device constructs a high consistency condition of the up road and the down road. And S1705, the computer equipment solves the optimal virtual elevation according to the generated conditions. S1706 the computer device determines virtual elevations for the remaining points between the location points by way of interpolation.
In one embodiment, referring to FIG. 18, FIG. 18 illustrates a flow chart of generation of an elevation consistency constraint in one embodiment. S1801 the computer device acquires an up road and a down road. S1802, projecting to the downlink through an end point of a center line in the uplink to obtain a first projection point, projecting to the uplink through an end point of a center point in the downlink to obtain a second projection point, and obtaining a first matching section in the uplink and a second matching section in the downlink according to the first projection point and the second projection point. S1803 inserts interpolation points at fixed point distances in the target route of the target road, using the road having the shorter matching link as the target road. S1804 projecting the center line of the opposite road through the interpolation point. S1805, the interpolation points are paired with the corresponding projection points, and the end points of the first matching road section are paired with the end points of the second matching road section to obtain a plurality of height consistency relation pairs. Each pair of the height consistency relationship pairs comprises a target position point and a corresponding opposite position point. And S1806, generating elevation consistency constraint conditions corresponding to each height consistency relation, and adjusting the initial virtual elevation through the elevation consistency constraint conditions.
In one embodiment, referring to FIG. 19, FIG. 19 illustrates a flow diagram of a virtual elevation generation method in one particular embodiment.
S1902, a computer device acquires a road network and identifies an uplink road and a downlink road in the road network; determining a first road route in an uplink and an end point of the first road route; a second road route in the down road and end points of the second road route are determined.
S1904, the computer device projects the end point of the first road route to the downlink to obtain a first projection point; and projecting the end point of the second road route to the uplink road to obtain a second projection point.
S1906, the computer device determines a first matching section matched with the downlink in the uplink according to at least one of the end point of the first road route and the second projection point; and determining a second matching section matched with the uplink in the downlink according to at least one of the end point of the second road route and the first projection point.
S1908, the computer device determines a first road segment length of the first matched road segment; determining a second road segment length of the second matching road segment; and selecting one road from the ascending road and the descending road as a target road and the other road as an opposite road according to the first road section length and the second road section length.
S1910, the computer device determines a target route corresponding to the road matching section in the target road, and determines end points and corner points in the target route; and sequencing the end points and the corner points in the target route according to the position arrangement sequence of the end points and the corner points in the target route to obtain a first position point sequence.
S1912, the computer device determines a reference position point in the first position point sequence and a subsequent position point located after the reference position point; the length of a broken line formed by a target subsequence taking the reference position point as a starting point and taking the subsequent position point as an end point in the first position point sequence is larger than or equal to a preset interpolation interval.
S1914, the computer device inserts at least one interpolation point in the polygonal line formed based on the target subsequence according to the interpolation interval.
S1916, the computer device adds each interpolation point between the reference position point and the subsequent position point in the first position point sequence according to the position arrangement order of each interpolation point in the polyline formed by the target subsequence, so as to update the first position point sequence.
S1919, the computer device takes the target interpolation point meeting the long-distance condition in the interpolation points as a new reference position point, enters the next round of interpolation process, returns to the step of determining the subsequent position point located after the reference position point, continues to execute until the subsequent position point is the position point in the last sequence in the first position point sequence, and the distance between the reference position point and the subsequent position point is smaller than or equal to the interpolation distance, and takes the finally updated first position sequence point as the target position point sequence.
S1920, the computer device determines a plurality of target position points from the sequence of target position points, and determines corresponding opposite position points in the opposite road for each target position point.
S1922, generating elevation consistency constraint conditions corresponding to each pair of target position points and each pair of object position points by the computer equipment; and the elevation consistency constraint condition is used for indicating a condition which needs to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point.
S1924, the computer equipment acquires at least one associated position point pair of the road from the road network and determines the position association relation between the position points included by each associated position point pair; generating a virtual elevation constraint condition set corresponding to at least one associated position point pair according to the position association relation; the set of virtual elevation constraints includes at least one of a capping zone constraint, an adjacent elevation continuity constraint, and a grade constraint.
S1926, the computer device determines, based on the virtual elevation constraint set and the elevation consistency constraint, a first virtual elevation of each target location point, a second virtual elevation of each corresponding location point, and a third virtual elevation corresponding to a location point included in each associated location point pair.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the present application further provides a virtual elevation generation apparatus for implementing the above-mentioned virtual elevation generation method. The solution to the problem provided by the apparatus is similar to the solution described in the above method, so the specific limitations in one or more embodiments of the virtual elevation generation apparatus provided below may refer to the limitations in the above virtual elevation generation method, and are not described herein again.
In one embodiment, as shown in FIG. 20, there is provided a virtual elevation generation apparatus 2000 comprising: a road determination module 2002, a location point determination module 2004, and a condition generation module 2006, wherein:
a road determining module 2002, configured to determine a target road and an opposite road of the target road from an ascending road and a descending road based on a road matching section between the ascending road and the descending road in the road network.
A position point determining module 2004, configured to perform interpolation processing on the first position point sequence of the corresponding road matching section in the target road to obtain a target position point sequence of the target road; and determining a plurality of target position points from the target position point sequence, and determining corresponding opposite position points in the opposite road corresponding to each target position point.
A condition generating module 2006, configured to generate elevation consistency constraint conditions corresponding to each pair of target location points and object location points; the elevation consistency constraint conditions are used for indicating conditions required to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point; and determining a first virtual elevation of each target position point and a second virtual elevation of each alignment position point according to the elevation consistency constraint conditions.
In one embodiment, the virtual elevation generating apparatus 2000 further includes a road matching section generating module 2008, configured to obtain a road network and identify an ascending road and a descending road in the road network; determining a first road route in an uplink and an end point of the first road route; determining a second road route in the downlink road and an end point of the second road route; and determining a road matching section between the ascending road and the descending road according to the end point of the first road route and the end point of the second road route.
In one embodiment, the road matching section between the ascending road and the descending road comprises a first matching section and a second matching section; the road matching section generation module 2008 is further configured to project an end point of the first road route to the downlink to obtain a first projection point; projecting the end point of the second road route to the uplink road to obtain a second projection point; determining a first matching road section matched with the downlink road in the uplink road according to at least one of the end point of the first road route and the second projection point; and determining a second matching section matched with the uplink in the downlink according to at least one of the end point of the second road route and the first projection point.
In one embodiment, the end points of the first road route include a first start point and a first end point; the end points of the second road route comprise a second starting point and a second ending point; the road matching section generating module 2008 is further configured to, under the condition that the first start point and the first end point are both successfully projected, intercept a section of the ascending road, where the first start point and the first end point are position points in two side edges, to obtain a first matching section; under the condition that the first starting point or the first ending point is projected successfully, screening out a first target end point which is projected successfully from the first starting point and the first ending point, and intercepting a road section which takes the first target end point and the second projection point as position points in side lines on two sides from an ascending road to obtain a first matching road section; and under the condition that the first starting point and the first ending point are not projected successfully and the second starting point and the second ending point are projected successfully, intercepting a road section taking the second projection point of the second starting point and the second projection point of the second ending point as position points in two side edges from the ascending road to obtain a first matching road section.
In one embodiment, the road matching sections between the uplink road and the downlink road comprise a first matching section matched with the downlink road in the uplink road and a second matching section matched with the uplink road in the downlink road; the road determination module 2002 is further configured to determine a first road segment length of the first matching road segment; determining a second road segment length of a second matching road segment; and selecting one road from the ascending road and the descending road as a target road and the other road as an opposite road according to the first road section length and the second road section length.
In one embodiment, the virtual elevation generator 2000 is further configured to determine a target route corresponding to the road matching section in the target road, and determine end points and corner points in the target route; sequencing the end points and the corner points in the target route according to the position arrangement sequence of the end points and the corner points in the target route to obtain a first position point sequence; the position point determining module 2004 is further configured to perform interpolation processing on the target route according to a preset interpolation interval to obtain a plurality of interpolation points, and synthesize the plurality of interpolation points and the first position point sequence to obtain a target position point sequence.
In one embodiment, the position point determination module 2004 is further configured to determine a reference position point in the first sequence of position points and a subsequent position point located after the reference position point; the length of a broken line formed by a target subsequence taking the reference position point as a starting point and taking the subsequent position point as an end point in the first position point sequence is greater than or equal to a preset interpolation interval; inserting at least one interpolation point in a polygonal line formed based on the target subsequence according to the interpolation interval; adding each interpolation point between a reference position point and a subsequent position point in the first position point sequence according to the position arrangement sequence of each interpolation point in a fold line formed by the target subsequence so as to update the first position point sequence; and taking the target interpolation point meeting the long-distance condition in the interpolation points as a new reference position point, entering the next round of interpolation process, returning to the step of determining the subsequent position point behind the reference position point, and continuing to execute until the subsequent position point is the position point in the last sequence in the first position point sequence, the distance between the reference position point and the subsequent position point is less than or equal to the interpolation distance, and taking the finally updated first position sequence point as the target position point sequence.
In one embodiment, the position point determining module 2004 is further configured to traverse the position points in the first position point sequence after the reference position point according to the arrangement order of the position points in the first position point sequence; extracting a candidate subsequence taking the reference position point as a starting point and taking the currently traversed position point as an end point from the first position point sequence, and determining the length of a broken line formed by the candidate subsequence; and when the length of the broken line formed by the candidate subsequence is smaller than the interpolation interval, continuing traversing until the length of the broken line formed by the candidate subsequence extracted from the first position point sequence based on the currently traversed position point is larger than or equal to the interpolation interval, and taking the currently traversed position point in the first position point sequence as a subsequent position point.
In one embodiment, the position point determining module 2004 is further configured to determine a preceding position point adjacent to and before a subsequent position point in the first position point sequence when the number of position points included in the target subsequence is greater than the number threshold; acquiring the length of a broken line formed by intermediate subsequences which take the reference position point as a starting point and take the front position point as an end point in the first position point sequence; determining the interpolation coordinate of a first interpolation point in the current round of interpolation process according to the length and the interpolation interval of a broken line formed by the intermediate subsequence to obtain the first interpolation point; and sequentially inserting subsequent interpolation points into a line segment formed based on the first interpolation point and the subsequent position point according to the interpolation interval to obtain each subsequent interpolation point.
In one embodiment, the position point determining module 2004 is further configured to determine a difference between a length of a polygonal line formed by the middle subsequence and the interpolation interval, to obtain a difference length, and use the difference length as a distance between a first interpolation point and a preamble position point in the current round of interpolation process; and obtaining the interpolation coordinate of the first interpolation point in the current round interpolation process according to the first position coordinate of the preorder position point, the second position coordinate of the postorder position point and the distance between the first interpolation point and the preorder position point in the current round interpolation process.
In one embodiment, the position point determining module 2004 is further configured to determine a ratio between a length of a line segment formed by the preceding position point and the following position point and the difference length, so as to obtain a length ratio; acquiring a first position coordinate of a preorder position point and a second position coordinate of a postorder position point; determining a coordinate difference between the first position coordinate and the second position coordinate; carrying out coordinate fusion on the length ratio and the coordinate difference value to obtain a fusion coordinate; and superposing the first position coordinate and the fusion coordinate to obtain the interpolation coordinate of the first interpolation point in the current round of interpolation process.
In one embodiment, the position point determining module 2004 is further configured to, when the number of position points included in the target subsequence is equal to the number threshold, sequentially insert interpolation points into a line segment formed based on the reference position point and subsequent position points according to the interpolation interval, so as to obtain at least one interpolation point.
In one embodiment, the position point determining module 2004 is further configured to, for each of the plurality of target position points, regard, as the subtended position point corresponding to the current target position point, a position point in the subtended road for which a distance from the current target position point satisfies a first short distance condition.
In one embodiment, the position point determining module 2004 is further configured to, when the current target position point is an interpolation point obtained by interpolating the first position point sequence, project the current target position point to the opposite road to obtain a third projection point, and use the third projection point as an opposite position point corresponding to the current target position point; and when the current target position point is the sequence endpoint of the first position point sequence, acquiring a second position point sequence of the corresponding road matching section in the opposite road, and screening the opposite position point corresponding to the current target position point from the second position point sequence.
In one embodiment, the location point determining module 2004 is further configured to obtain a second sequence of location points for the corresponding road matching segment in the opposing road; dividing the opposite route in the opposite road through the position points in the second position point sequence to obtain a plurality of route segments; for each route line segment in the plurality of route line segments, making a perpendicular line to the current route line segment through the current target position point to obtain a middle drop foot, and taking the middle drop foot as a candidate drop foot when the middle drop foot falls into the current route line segment; screening a target foot closest to the current target position point from the candidate feet; and determining a third projection point corresponding to the current target position point according to the target foot.
In one embodiment, the position point determining module 2004 is further configured to determine distances between the current target position point and each position point in the second position point sequence, respectively, to obtain a plurality of candidate distances; screening target distances meeting a second short-distance condition from the plurality of candidate distances; and when the distance between the target foot and the current target position point is less than or equal to the target distance, taking the target foot as a third projection point corresponding to the current target position point.
In one embodiment, the condition generating module 2006 is further configured to generate a distribution feature condition; the distribution characteristic conditions represent conditions required to be met by the virtual elevations of the target position points and the dispersion degrees of the virtual elevations of the orientation position points; and adjusting the first initial virtual elevation of each target position point and the second initial virtual elevation of each alignment position point according to the distribution characteristic conditions and the elevation consistency constraint conditions to obtain the first virtual elevation of each target position point and the second virtual elevation of each alignment position point.
In one embodiment, the condition generating module 2006 is further configured to obtain at least one associated position point pair of a road from the road network, and determine a position association relationship between position points included in each associated position point pair; generating a virtual elevation constraint condition set corresponding to at least one associated position point pair according to the position association relation; the virtual elevation constraint condition set at least comprises one of a capping area constraint condition, an adjacent height continuous constraint condition and a gradient constraint condition; and determining a first virtual elevation of each target position point, a second virtual elevation of each alignment position point and a third virtual elevation corresponding to the position point included in each associated position point pair respectively based on the virtual elevation constraint condition set and the elevation consistency constraint condition.
The respective modules in the above-described virtual elevation generation apparatus may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 21. The computer device includes a processor, a memory, an Input/Output interface (I/O for short), and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used to store virtual elevation generation data. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a virtual elevation generation method.
Those skilled in the art will appreciate that the architecture shown in fig. 21 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
In one embodiment, a computer program product or computer program is provided that includes computer instructions stored in a computer-readable storage medium. The computer instructions are read by a processor of a computer device from a computer-readable storage medium, and the computer instructions are executed by the processor to cause the computer device to perform the steps in the above-mentioned method embodiments.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the relevant laws and regulations and standards of the relevant country and region.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, databases, or other media used in the embodiments provided herein can include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), magnetic Random Access Memory (MRAM), ferroelectric Random Access Memory (FRAM), phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (20)

1. A method of virtual elevation generation, the method comprising:
determining a target road and an opposite road of the target road from an ascending road and a descending road based on a road matching section between the ascending road and the descending road in a road network;
performing interpolation processing on a first position point sequence corresponding to the road matching section in the target road to obtain a target position point sequence of the target road;
determining a plurality of target position points from the target position point sequence, and determining corresponding opposite position points in the opposite road corresponding to each target position point;
generating elevation consistency constraint conditions corresponding to each pair of target position points and object position points; the elevation consistency constraint condition is used for indicating a condition which needs to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point;
and determining a first virtual elevation of each target position point and a second virtual elevation of each opposite position point according to each elevation consistency constraint condition.
2. The method according to claim 1, wherein before determining the target road and the opposite road of the target road from the up road and the down road based on the road matching section between the up road and the down road in the road network, the method further comprises:
acquiring a road network, and identifying an uplink road and a downlink road in the road network;
determining a first road route in the uplink and an end point of the first road route;
determining a second road route in the down road and end points of the second road route;
and determining a road matching section between the uplink road and the downlink road according to the end point of the first road route and the end point of the second road route.
3. The method of claim 2, wherein the road matching segment between the up-link and the down-link comprises a first matching segment and a second matching segment;
the determining a road matching section between the uplink road and the downlink road according to the end point of the first road route and the end point of the second road route includes:
projecting the end point of the first road route to the downlink to obtain a first projection point;
projecting the end point of the second road route to the uplink road to obtain a second projection point;
determining a first matching section matched with the downlink road in the uplink road according to at least one of the end point of the first road route and the second projection point;
and determining a second matching section matched with the uplink road in the downlink road according to at least one of the end point of the second road route and the first projection point.
4. The method of claim 3, wherein the end points of the first road route comprise a first start point and a first end point; the end points of the second road route comprise a second starting point and a second ending point;
the determining a first matching section in the uplink road matched with the downlink road according to at least one of the end point of the first road route and the second projection point comprises:
under the condition that the first starting point and the first ending point are projected successfully, a road section which takes the first starting point and the first ending point as position points in two side lines is intercepted from the ascending road to obtain a first matching road section;
under the condition that the first starting point or the first ending point is projected successfully, screening out a first target end point which is projected successfully from the first starting point and the first ending point, and intercepting a road section which takes the first target end point and the second projection point as position points in two side lines from an ascending road to obtain a first matching road section;
and under the condition that the first starting point and the first ending point are not projected successfully and the second starting point and the second ending point are projected successfully, intercepting a road section which takes a second projection point of the second starting point and a second projection point of the second ending point as position points in side lines on two sides from the ascending road to obtain a first matching road section.
5. The method of claim 1, wherein the road matching segments between the up-link and down-link include a first matching segment in the up-link matching the down-link and a second matching segment in the down-link matching the up-link;
the determining a target road and an opposite road of the target road from the ascending road and the descending road based on a road matching section between the ascending road and the descending road in the road network comprises the following steps:
determining a first road segment length of the first matching road segment;
determining a second road segment length of the second matched road segment;
and according to the length of the first road segment and the length of the second road segment, selecting one road from the uplink road and the downlink road as a target road, and using the other road as an opposite road.
6. The method according to claim 1, wherein before the interpolating the first position point sequence corresponding to the road matching section in the target road to obtain the target position point sequence of the target road, the method further comprises:
determining a target route corresponding to the road matching section in the target road, and determining end points and corner points in the target route;
sequencing the end points and the corner points in the target route according to the position arrangement sequence of the end points and the corner points in the target route to obtain a first position point sequence;
the interpolating the first position point sequence corresponding to the road matching section in the target road to obtain the target position point sequence of the target road comprises:
and carrying out interpolation processing on the target route according to a preset interpolation interval to obtain a plurality of interpolation points, and integrating the interpolation points and the first position point sequence to obtain a target position point sequence.
7. The method according to claim 6, wherein the interpolating the target route according to a preset interpolation interval to obtain a plurality of interpolation points, and integrating the plurality of interpolation points and the first position point sequence to obtain a target position point sequence comprises:
determining a reference position point in the first position point sequence and a subsequent position point located after the reference position point; the length of a broken line formed by a target subsequence taking the reference position point as a starting point and taking the subsequent position point as an end point in the first position point sequence is greater than or equal to a preset interpolation interval;
inserting at least one interpolation point in a polygonal line formed based on the target subsequence according to the interpolation interval;
adding each interpolation point between the reference position point and the subsequent position point in the first position point sequence according to the position arrangement sequence of each interpolation point in the polyline formed by the target subsequence so as to update the first position point sequence;
and taking the target interpolation point meeting the long-distance condition in the interpolation points as a new reference position point, entering the next round of interpolation process, returning to the step of determining the subsequent position point positioned after the reference position point, and continuing to execute until the subsequent position point is the position point in the last sequence in the first position point sequence, the distance between the reference position point and the subsequent position point is less than or equal to the interpolation distance, and taking the finally updated first position sequence point as the target position point sequence.
8. The method of claim 7, wherein the step of determining the subsequent location point comprises:
traversing the position points which are positioned behind the reference position point in the first position point sequence according to the arrangement sequence of the position points in the first position point sequence;
extracting a candidate subsequence taking the reference position point as a starting point and taking the currently traversed position point as an end point from the first position point sequence, and determining the length of a broken line formed by the candidate subsequence;
and when the length of the polyline formed by the candidate subsequence is smaller than the interpolation interval, continuing traversing until the length of the polyline formed by the candidate subsequence extracted from the first position point sequence based on the currently traversed position point is larger than or equal to the interpolation interval, and taking the currently traversed position point in the first position point sequence as a subsequent position point.
9. The method according to claim 7, wherein the inserting at least one interpolation point in the polyline formed based on the target subsequence according to the interpolation interval comprises:
when the number of the position points included in the target subsequence is larger than a number threshold, determining a preamble position point which is adjacent to the subsequent position point and is positioned before the subsequent position point in the first position point sequence;
acquiring the length of a broken line formed by a middle subsequence taking the reference position point as a starting point and the preamble position point as an end point in the first position point sequence;
determining the interpolation coordinate of a first interpolation point in the current round of interpolation process according to the length of a broken line formed by the middle subsequence and the interpolation interval to obtain the first interpolation point;
and sequentially inserting subsequent interpolation points into a line segment formed based on the first interpolation point and the subsequent position points according to the interpolation interval to obtain each subsequent interpolation point.
10. The method according to claim 9, wherein determining the interpolation coordinate of the first interpolation point in the current round of interpolation process according to the length of the polyline formed by the intermediate subsequence and the interpolation interval comprises:
determining the difference between the length of a broken line formed by the middle subsequence and the interpolation interval to obtain the difference length, and taking the difference length as the distance between the first interpolation point and the preamble position point in the current round of interpolation process;
and obtaining the interpolation coordinate of the first interpolation point in the current round interpolation process according to the first position coordinate of the preorder position point, the second position coordinate of the postorder position point and the distance between the first interpolation point and the preorder position point in the current round interpolation process.
11. The method according to claim 10, wherein obtaining the interpolation coordinate of the first interpolation point in the current round of interpolation process according to the first position coordinate of the preceding position point, the second position coordinate of the subsequent position point, and the distance between the first interpolation point in the current round of interpolation process and the preceding position point comprises:
determining the ratio of the length of a line segment formed by the preorder position point and the postorder position point to the difference length to obtain a length ratio;
acquiring a first position coordinate of the preorder position point and a second position coordinate of the postorder position point;
determining a coordinate difference between the first position coordinate and the second position coordinate;
coordinate fusion is carried out on the length ratio and the coordinate difference value to obtain a fusion coordinate;
and superposing the first position coordinate and the fusion coordinate to obtain the interpolation coordinate of the first interpolation point in the current round of interpolation process.
12. The method of claim 1, wherein said determining the respective corresponding subtended location point in the subtended road for each of the target location points comprises:
for each of the plurality of target position points, a position point in the opposite road, for which a distance from a current target position point satisfies a first short-distance condition, is taken as an opposite position point corresponding to the current target position point.
13. The method according to claim 12, wherein the regarding, as the subtended position point corresponding to the current target position point, a position point in the subtended road for which a distance from the current target position point satisfies a first short-distance condition, comprises:
when the current target position point is an interpolation point obtained by performing interpolation processing on the first position point sequence, projecting the current target position point to the opposite road to obtain a third projection point, and taking the third projection point as an opposite position point corresponding to the current target position point;
and when the current target position point is the sequence endpoint of the first position point sequence, acquiring a second position point sequence corresponding to the road matching section in the opposite road, and screening the opposite position point corresponding to the current target position point from the second position point sequence.
14. The method of claim 13, wherein projecting the current target location point to the oncoming road, resulting in a third projection point, comprises:
acquiring a second position point sequence corresponding to the road matching section in the opposite road;
dividing the opposite route in the opposite road through the position points in the second position point sequence to obtain a plurality of route segments;
for each of the plurality of route segments, making a perpendicular line to the current route segment through the current target position point to obtain a middle drop foot, and taking the middle drop foot as a candidate drop foot when the middle drop foot falls into the current route segment;
screening out a target foot closest to the current target position point from the candidate feet;
and determining a third projection point corresponding to the current target position point according to the target foot.
15. The method of claim 14, wherein determining a third proxel corresponding to the current target location point based on the target foot comprises:
determining distances between the current target position point and each position point in the second position point sequence respectively to obtain a plurality of candidate distances;
screening out a target distance meeting a second short-distance condition from the plurality of candidate distances;
and when the distance between the target foot and the current target position point is less than or equal to the target distance, taking the target foot as a third projection point corresponding to the current target position point.
16. The method of claim 1, further comprising:
acquiring at least one associated position point pair of a road from the road network, and determining the position association relation between the position points included in each associated position point pair;
generating a virtual elevation constraint condition set corresponding to at least one associated position point pair according to the position association relation; the virtual elevation constraint condition set at least comprises one of a gland area constraint condition, an adjacent height continuous constraint condition and a slope constraint condition;
determining a first virtual elevation of each target location point and a second virtual elevation of each opposite location point according to each elevation consistency constraint condition, including:
and determining a first virtual elevation of each target position point, a second virtual elevation of each opposite position point and a third virtual elevation corresponding to the position point included in each associated position point pair respectively based on the virtual elevation constraint condition set and the elevation consistency constraint condition.
17. An apparatus for generating virtual elevations, the apparatus comprising:
the road determining module is used for determining a target road and an opposite road of the target road from an ascending road and a descending road based on a road matching section between the ascending road and the descending road in a road network;
the position point determining module is used for performing interpolation processing on a first position point sequence corresponding to the road matching section in the target road to obtain a target position point sequence of the target road; determining a plurality of target position points from the target position point sequence, and determining corresponding opposite position points in the opposite road corresponding to each target position point;
the condition generating module is used for generating elevation consistency constraint conditions corresponding to each pair of target position points and object position points; the elevation consistency constraint condition is used for indicating a condition which needs to be met by the difference between the virtual elevation of the target position point and the virtual elevation of the corresponding opposite position point; and determining a first virtual elevation of each target position point and a second virtual elevation of each opposite position point according to each elevation consistency constraint condition.
18. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 16.
19. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 16.
20. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 16 when executed by a processor.
CN202210882844.8A 2022-07-26 2022-07-26 Virtual elevation generation method and device, computer equipment and storage medium Pending CN115830552A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117723073A (en) * 2024-02-07 2024-03-19 腾讯科技（深圳）有限公司 Elevation adjustment method, apparatus, device, storage medium, and computer program product

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117723073A (en) * 2024-02-07 2024-03-19 腾讯科技（深圳）有限公司 Elevation adjustment method, apparatus, device, storage medium, and computer program product
CN117723073B (en) * 2024-02-07 2024-05-14 腾讯科技（深圳）有限公司 Elevation adjustment method, apparatus, device, storage medium, and computer program product

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