CN115861954A

CN115861954A - Road surface data generation method, device, equipment and storage medium

Info

Publication number: CN115861954A
Application number: CN202211570071.6A
Authority: CN
Inventors: 刘佳奇
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Priority date: 2022-12-08
Filing date: 2022-12-08
Publication date: 2023-03-28

Abstract

The present disclosure provides a road surface data generation method, apparatus, device and storage medium, which relate to the technical field of data processing, in particular to the technical fields of electronic maps, intelligent driving, artificial intelligence, smart cities and the like. The specific implementation scheme is as follows: acquiring road route data of map roads from a high-precision map road network, wherein the road route data comprises boundary line positions of a plurality of road boundary lines; identifying a peripheral boundary line located at the periphery of a map road among the plurality of road boundary lines according to the boundary line positions of the plurality of road boundary lines; generating first road surface data according to the peripheral boundary line, wherein the first road surface data comprises position information of a first road surface, and the first road surface covers the global area of the map road; and generating second road surface data according to the rest of the plurality of road boundary lines, wherein the second road surface data comprises the position information of a second road surface, and the second road surface data covers the local area of the map road. Thus, the efficiency of generating road surface data is improved.

Description

Road surface data generation method, device, equipment and storage medium

Technical Field

The present disclosure relates to the technical fields of electronic maps, intelligent driving, artificial intelligence, smart cities, and the like in the technical field of data processing, and in particular, to a road surface data generating method, apparatus, device, and storage medium.

Background

The application range of the high-precision map network is wider and wider, and the high-precision map network plays an important role in application scenes such as map navigation, automatic driving, smart cities and the like.

In the related art, in the process of manufacturing a high-precision map network, road route data is manufactured, and road surface data is manufactured in a manual mode in a small range according to customer requirements, so that the road surface data manufacturing efficiency is low.

Disclosure of Invention

The present disclosure provides a road surface data generating method, apparatus, device, and storage medium for improving road surface data production efficiency.

According to a first aspect of the present disclosure, there is provided a road surface data generation method including:

determining road route data of a map road, wherein the road route data includes boundary line positions of a plurality of road boundary lines;

identifying a peripheral boundary line located at the periphery of the map road in the plurality of road boundary lines according to the boundary line positions of the plurality of road boundary lines;

generating first road surface data according to the peripheral boundary line, wherein the first road surface data comprises position information of a first road surface, and the first road surface covers the global area of the map road;

and generating second road surface data according to the rest boundary lines except the peripheral boundary line in the plurality of road boundary lines, wherein the second road surface data comprises position information of a second road surface, and the second road surface data covers the local area of the map road.

According to a second aspect of the present disclosure, there is provided a road surface data generating device including:

an acquisition unit configured to determine road route data of a map road, wherein the road route data includes boundary line positions of a plurality of road boundary lines;

an identifying unit configured to identify, among the plurality of road boundary lines, a peripheral boundary line located at a periphery of the map road, according to a boundary line position of the plurality of road boundary lines;

a first generation unit configured to generate first road surface data including position information of a first road surface covering a global area of the map road, based on the peripheral boundary line;

a second generation unit configured to generate second road surface data including position information of a second road surface covering a local area of the map road, based on remaining boundary lines of the plurality of road boundary lines other than the peripheral boundary line.

According to a third aspect of the present disclosure, there is provided an electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor;

wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of generating road surface data of the first aspect.

According to a fourth aspect of the present disclosure, there is provided a non-transitory computer-readable storage medium storing computer instructions for causing the computer to execute the road surface data generating method of the first aspect.

According to a fifth aspect of the present disclosure, there is provided a computer program product comprising: a computer program stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to execute the road surface data generation method according to the first aspect.

According to the technical scheme provided by the disclosure, in the generation process of the road surface data, generating first road surface data according to the peripheral boundary line, wherein the first road surface data comprises position information of the first road surface, and the first road surface covers the global area of the map road; second road surface data is generated on the basis of the remaining road boundary lines, excluding the peripheral boundary line, of the plurality of road boundary lines, the second road surface data including position information of a second road surface covering a local area of the map road. Therefore, the road surface data of the global area and the road surface data of the local area are generated directly based on the road route data, the generation efficiency of the road surface data is effectively improved, the operation cost of generating the road surface data can be obviously saved, and the road surface data can be generated rapidly in a large range.

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

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 is a schematic diagram of an application scenario in which embodiments of the present disclosure are applicable;

fig. 2 is a first schematic flow chart of a road surface data generation method provided in an embodiment of the present disclosure;

fig. 3 is a road example diagram of a map road provided by an embodiment of the present disclosure;

fig. 4 is a second flowchart illustrating a road surface data generation method according to an embodiment of the disclosure;

fig. 5 is a third schematic flowchart of a road surface data generation method provided according to an embodiment of the present disclosure;

fig. 6 is a first schematic structural diagram of a road surface data generation device provided in an embodiment of the present disclosure;

fig. 7 is a schematic structural diagram ii of a road surface data generation device according to an embodiment of the present disclosure;

fig. 8 is a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure.

Detailed Description

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

In the process of manufacturing a high-precision map network, only road route data is usually manufactured, and if a customer using the high-precision map network has the requirement of road surface data, the road surface data is manufactured in a manual mode in a small range, so that the problems of low road surface data manufacturing efficiency and high cost exist.

In order to solve the problems, the present disclosure provides a method, an apparatus, a device and a storage medium for generating road surface data, which are applied to the technical fields of electronic maps, intelligent driving, artificial intelligence, smart cities and the like in the technical field of data processing. In the process of generating the road surface data, the road surface data corresponding to the global area of the map road is generated according to the peripheral boundary line of the map road, the road surface data corresponding to the local area of the map road is generated according to the rest road boundary line of the map road, the generation efficiency of the road surface data is improved, meanwhile, the integrity of the road surface data is improved, and the accuracy of the road surface data is improved by respectively generating the road surface data of the global area of the map road and the road surface data of the local area of the map road.

Fig. 1 is a schematic diagram of an application scenario applicable to the embodiment of the present disclosure, where the application scenario may be a generation scenario of a high-precision map network. In an application scenario, the related devices include a high-precision map network generation apparatus 101 and a database 102. The high-precision map network generation device 101 may be a server or a terminal, and fig. 1 takes the high-precision map network generation device 101 as an example; the database 103 may store electronic maps, road route data, road surface data, and the like.

In a generation scene of the high-precision map network, the high-precision map network generation device 101 can acquire an electronic map from the database 103, generate road route data of the high-precision map network according to the electronic map, and store the road route data into the database 102; road surface data of the high-precision map road network can be generated according to the road route data, and the road surface data is stored in the database 102.

The technical scheme of the disclosure and the present invention are illustrated by the following specific examples how the disclosed technical solution solves the above technical problems will be explained in detail. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present disclosure will be described below with reference to the accompanying drawings.

For example, the execution subject of the embodiment of the present disclosure may be an electronic device, and the electronic device may be a server or a terminal. The server may be a centralized server, a distributed server, or a cloud server. The terminal may be a Personal Digital Assistant (PDA) device, a handheld device (e.g., a smart phone or a tablet computer) with a wireless communication function, a computing device (e.g., a Personal Computer (PC)), an in-vehicle device, a wearable device (e.g., a smart watch or a smart band), a smart home device (e.g., a smart speaker, a smart display device), and the like.

Fig. 2 is a first schematic flow chart of a road surface data generation method according to an embodiment of the present disclosure. As shown in fig. 2, the road surface data generation method includes:

s201, road route data of the map road is determined, wherein the road route data comprises boundary line positions of a plurality of road boundary lines.

The road boundary lines are used to define the road surface range of a road, as shown in fig. 3 (fig. 3 is a road example diagram of a map road provided by the embodiment of the present disclosure), for one map road, there may be multiple road boundary lines.

For example, in the case where there is no road branch and no physical barriers on a map road, the map road has road boundary lines respectively located on the left side, the right side, the start point, and the end point of the road; when a map road has a road branch or a physical barrier, the road boundary lines of the map road include not only the road boundary lines on the left side, the right side, the starting point, and the ending point of the road, but also the road boundary lines for dividing the physical barrier from the road surface and the road branch.

The road line of the map road may include traffic signs such as a lane boundary, and a stop line of the map road, in addition to the road boundary. Therefore, the road line data of the map road may include, in addition to the boundary line positions of the plurality of road boundary lines, information (such as position information) related to traffic signs such as a lane boundary line, and a stop line of the map road.

The road route data includes boundary line positions corresponding to a plurality of road boundary lines. The boundary line position of the road boundary line may be embodied as position coordinates of a plurality of points (a start point of the road boundary line, an end point of the road boundary line, and a point located in the middle of the road boundary line) on the road boundary line.

In this embodiment, in one mode, the road route data of the map road can be acquired from the high-precision map road network. The high-precision map road network can comprise road route data of a plurality of map roads, and road route data of one or more map roads can be obtained from the high-precision map road network through road identification of the map roads. Alternatively, the road route data of the map road may be generated based on a road image of the map road. For example, firstly, acquiring a road image on a road by a vehicle, then identifying a road line on the road image by using an image identification technology, and determining position information of a plurality of points on the road line; alternatively, in yet another manner, the road line data of the map road input by the user may be acquired.

In the embodiment, in the process of determining the road route data of the map road, the boundary line positions of a plurality of road boundary lines of the map road can be directly determined; alternatively, the position information of the plurality of road lines in the map road and the types of the plurality of road lines may be determined, and among the position information of the plurality of road lines, the position information of the road line of which the type is the road boundary line type, that is, the boundary line position of the road boundary line, may be acquired. Among them, the types of the plurality of road routes may include a road boundary line type, a lane boundary line type, a stop line type, and the like.

And S202, identifying a peripheral boundary line positioned on the periphery of the map road in the plurality of road boundary lines according to the boundary line positions of the plurality of road boundary lines.

In this embodiment, as can be seen from fig. 3, a plurality of road boundary lines are not necessarily located at the periphery of the map road, some road boundary lines are used for distinguishing physical partitions (such as greenbelts and road block facilities) from the road surface, and some road boundary lines are road boundary lines of some road branches in the map road. In the plurality of road boundary lines, by comparing the boundary line positions of the plurality of road boundary lines, A peripheral boundary line of the map road is identified among the plurality of road boundary lines.

S203, generating first road surface data according to the peripheral boundary line, wherein the first road surface data comprises position information of the first road surface, and the first road surface covers the global area of the map road.

In this embodiment, since the first peripheral boundary line reflects the global contour, that is, the global range, of the map road, the position information of the road surface that can cover the global area of the map road can be determined according to the boundary line position of the first peripheral boundary line, and the road surface that covers the global area of the map road is referred to as the first road surface for easy distinction. Thus, the position information of the first road surface can be obtained, and the first road surface data can be obtained based on the position information of the first road surface.

And S204, generating second road surface data according to the rest boundary lines except the peripheral boundary line in the plurality of road boundary lines, wherein the second road surface data comprises the position information of a second road surface, and the second road surface data covers the local area of the map road.

In the present embodiment, among the plurality of road boundary lines, the remaining boundary line other than the peripheral boundary line is located within the map road, and the remaining boundary line may form a partial region in the map road, for example, a road boundary line for distinguishing a physical partition from a road surface may form a partial region corresponding to the physical partition. Therefore, the position information of the road surface that can cover the partial area of the map road can be specified from the remaining boundary lines other than the peripheral boundary line among the plurality of road boundary lines, and the road surface that covers the partial area of the map road is referred to as a second road surface for the convenience of distinction. In this way, the position information of the second road surface can be obtained, and the second road surface data can be obtained based on the position information of the second road surface.

Wherein one second road surface covers one local area of the map road and a different second road surface covers a different local area of the map road. For example, one second road surface covers a green belt area on the map road, and the other second road surface covers a construction area on the map road.

In the embodiment of the present disclosure, the peripheral boundary line of the map road is identified from among a plurality of road boundary lines of the map road. Firstly, generating first road surface data corresponding to the whole global road surface based on the peripheral boundary line, which is equivalent to generating a whole road surface; and generating second road surface data corresponding to the local area of the map road according to the remaining boundary lines except the peripheral boundary line in the plurality of road boundary lines. The method and the device have the advantages that the road surface data are generated based on the road line data, the road surface data generation efficiency is improved, the fact that the whole road surface and the local area formed on the road surface due to greening, construction, isolation zones and the like are considered, the thought of whole and local is adopted, and the integrity and accuracy of the road surface data are improved.

In some embodiments, in identifying the peripheral boundary line, one possible implementation includes: determining that the peripheral boundary line includes the first boundary line if no other boundary line other than the first boundary line exists on at least one side of the first boundary line, according to the boundary line position of the road boundary line; wherein the first boundary line is any one of a plurality of road boundary lines.

In this implementation, the first boundary line is a road boundary line currently determined whether or not it is a peripheral boundary line. For the first boundary line, it is determined whether at least one side of the first boundary line is absent from the other boundary line of the plurality of road boundary lines other than the first boundary line, based on the boundary line position of the first boundary line and the boundary line positions of the other boundary lines of the plurality of road boundary lines other than the first boundary line, and if so, it is determined that the first boundary line belongs to the peripheral boundary line, i.e., it is determined that the peripheral boundary line includes the first boundary line, otherwise it is determined that the first boundary line does not belong to the peripheral boundary line. For example, if there is no other boundary line on the left side of the first boundary line, the first boundary line is a peripheral boundary line located on the leftmost side of the map road; there are no other boundary lines to the right of the first boundary line, and the first boundary line is the peripheral boundary line located on the rightmost side of the map road. Therefore, each road boundary line can be judged, all peripheral boundary lines are identified from the plurality of road boundary lines, the judgment process is simple, and the accuracy is high.

In yet another possible implementation, the peripheral boundary line may also be determined by determining the position of the different road boundary lines on the horizontal axis or on the vertical axis. The high-precision map network can be regarded as a two-dimensional coordinate system, and the horizontal axis and the vertical axis are the horizontal axis and the vertical axis of the two-dimensional coordinate system. If the position of the roadway boundary line on the vertical axis is highest or lowest, it may be determined that the peripheral boundary line includes the roadway boundary line; if the position of the road boundary line on the horizontal axis is rightmost or leftmost, it may be determined that the peripheral boundary line includes the road boundary line. Therefore, the relative position comparison of the plurality of road boundary lines in the two-dimensional coordinate system is utilized, and the identification efficiency and accuracy of the peripheral boundary lines are improved.

Fig. 4 is a schematic flowchart of a second method for generating road surface data according to an embodiment of the disclosure. As shown in fig. 4, the road surface data generation method includes:

s401, road route data of a map road is determined, wherein the road route data comprises boundary line positions of a plurality of road boundary lines.

S402, according to the boundary line positions of the plurality of road boundary lines, a peripheral boundary line located on the periphery of the map road is identified in the plurality of road boundary lines.

The implementation principle and the technical effect of S401 to S402 can refer to the foregoing embodiments, and are not described again.

S403, position information of the first closed area formed by the peripheral boundary line is determined based on the boundary line position of the peripheral boundary line.

The position information of the first closed region may include position information of each edge of the first closed region, and the position information of each edge may include position coordinates of a plurality of points on each edge.

In the present embodiment, after the peripheral boundary line is determined, the boundary line position of the peripheral boundary line is acquired from among the boundary line positions of the plurality of road boundary lines. A map road may include a plurality of peripheral boundary lines, which may form a closed area, i.e., a global area of the map road, in such a manner that they coincide end-to-end (a start point of one peripheral boundary line coincides with an end point of another peripheral boundary line). For the sake of distinction, the closed area formed by the peripheral boundary line, which is the side of the first closed area, is referred to as the first closed area. Thus, it can be determined that the position information of the first closed region includes the boundary line position of the peripheral boundary line.

Optionally, in addition to the position information of the edges of the first closed region, the first closed region may also comprise position information of other points (e.g. a center point) within the first closed region.

S404, determining the position information of the first road surface according to the position information of the first closed area, wherein the first road surface covers the first closed area.

In this embodiment, after the position information of the first closed area is determined, the position information of the first road surface may be determined to be the position information of the first closed area, so that the first road surface covers the first closed area, that is, covers the entire area of the map road, and can accurately represent the outline shape of the map road, thereby forming the basic road surface of the map road. The first road surface data comprises the position information of the first road surface, so that the position information of the first road surface is obtained, and the first road surface data is obtained.

In some embodiments, the first road surface data further comprises a face type corresponding to the first road surface and/or a region color corresponding to the first road surface, and thus, generating the first road surface data further comprises: and determining the surface type corresponding to the first road surface as a preset type, and/or determining the color of the area corresponding to the first road surface as a preset color. For example, the surface type corresponding to the first road surface is determined to be the road surface type or the global type, and the color of the area corresponding to the first road surface is determined to be gray. The first road surface is marked by type and/or color, so that the identifiability of the first road surface is stronger, the richness of the data of the first surface is improved, and particularly, sufficient data preparation is made for rendering of a high-precision map network.

S405, second road surface data is generated based on the remaining boundary lines, excluding the peripheral boundary line, among the plurality of road boundary lines, the second road surface data including position information of a second road surface, the second road surface data covering a local area of the map road.

The implementation principle and the technical effect of S405 may refer to the foregoing embodiments, and are not described again.

In the embodiment of the disclosure, the position information of the first closed area formed by the peripheral boundary line of the map road is determined according to the position information of the peripheral boundary line of the map road, and the position information of the first road surface is determined according to the position information of the first closed area, so that the first road surface can cover the global area of the map road, and the accuracy of the position information of the first road surface is improved, that is, the accuracy of the first road surface data is improved. Then, second road surface data corresponding to the local area of the map road is generated based on the remaining boundary lines of the plurality of road boundary lines except the peripheral boundary line. The method improves the generation efficiency of the road surface data and simultaneously improves the integrity and the accuracy of the road surface data.

Fig. 5 is a third schematic flowchart of a road surface data generation method according to an embodiment of the present disclosure. As shown in fig. 5, the road surface data generation method includes:

s501, road route data of the map road is determined, wherein the road route data comprises boundary line positions of a plurality of road boundary lines.

S502, a peripheral boundary line located at the periphery of the map road is identified among the plurality of road boundary lines based on the boundary line positions of the plurality of road boundary lines.

S503, generating first road surface data according to the peripheral boundary line, the first road surface data including position information of a first road surface, the first road surface covering the global area of the map road.

The implementation principle and the technical effect of S501 to S503 can refer to the foregoing embodiments, and are not described again.

S504, a second road surface data is generated according to whether or not a remaining boundary line other than the peripheral boundary line among the plurality of road boundary lines forms a closed area, the second road surface data including position information of a second road surface, the second road surface data covering a local area of the map road.

In this embodiment, for the map road, the peripheral boundary line is capable of forming a closed area, and the first road surface data can be determined by the closed area formed by the peripheral boundary line. For the remaining border lines of the plurality of road border lines other than the peripheral border line, the remaining border lines may not necessarily form a closed area, for example, for some green belts, only a part of the road border line may be drawn at the time of drawing the traffic sign. Therefore, the remaining boundary line may be at least one of: in the first situation, a part of boundary lines in the rest boundary lines can form a closed area, and the other part of boundary lines cannot form the closed area; case two, all remaining boundary lines can form a closed area; in case three, the remaining boundary lines do not form a closed region. Therefore, it is necessary to generate the second road surface data according to whether the remaining boundary lines can form the closed area, so as to improve the accuracy of the second road surface data.

In one aspect, the second road surface data is generated only from the road boundary lines on which the closed region can be formed among the remaining boundary lines. In another mode, the second road surface data is generated in different modes for the boundary lines of the roads which can form the closed area and the boundary lines which cannot form the closed area in the rest boundary lines, so that the integrity of the second road surface data is improved.

The following provides an implementation of generating second road surface data based on a boundary line of a road capable of forming a closed area and a boundary line incapable of forming a closed area among remaining boundary lines.

In one possible implementation, as shown in fig. 5, S504 includes S5041 to S5043:

s5041, it is determined whether there is a second boundary line forming the closed area in the remaining boundary lines according to the boundary line positions of the remaining boundary lines.

In the implementation mode, in an actual situation, if the road boundary lines cannot form a closed area, at least one end point of the road boundary lines is not connected with the end points of other road boundary lines; if the road boundary line can form a closed area, both end points of the road boundary line need to be connected with the end points of the other road boundary lines. Therefore, among the remaining boundary lines other than the peripheral boundary line among the plurality of road boundary lines, it is possible to determine whether the end points of the remaining boundary lines coincide with the end points of the other remaining boundary lines, and if both the end points of the remaining boundary lines coincide with the end points of the other remaining boundary lines, determine the remaining boundary lines as the second boundary lines. In this way, the efficiency and accuracy of identifying the second boundary line in the remaining boundary lines are improved by judging whether the end points coincide.

Optionally, after the second boundary line is determined by an endpoint coincidence manner, it may be further determined whether other road boundary lines other than the second boundary line exist in a closed region formed by the second boundary line, and if so, it is determined whether the second boundary line and the other road boundary lines can form a closed region, and the other road boundary lines are also determined as the second boundary line, so that it is ensured that no road boundary line exists in the closed region formed by the second boundary line, the accuracy of the second boundary line is improved, and the accuracy of the closed region formed by the second boundary line is also improved.

S5042, if there is a second boundary line in the remaining boundary lines, determining position information of a second closed region formed by the second boundary line according to a boundary line position of the second boundary line.

The position information of the second closed region may include position information of each edge of the second closed region, and the position information of each edge may include position coordinates of a plurality of points on each edge.

In this embodiment, for the sake of convenience of distinction, the closed region formed by the second boundary line is referred to as a second closed region, and the second boundary line is a side of the second closed region. Therefore, if there is a second boundary line capable of forming a closed area among the remaining boundary lines, it is determined that the position information of the closed area formed by the second boundary line includes the position information of the second boundary line. Wherein the second borderline may form one or more second closed areas, and for each second closed area, the position information of the second closed area comprises the position information of the second borderline forming the second closed area.

Optionally, in addition to the position information of the edges of the second closed area, the second closed area may also comprise position information of other points (e.g. a center point) within the second closed area.

S5043, determining position information of a second road surface according to the position information of the second closed area, the second road surface covering the second closed area.

The number of the second closed areas can be one or more, and the number of the second road surface can also be one or more. The second closed area is in one-to-one correspondence with a second road surface, and the second road surface covers the second closed area corresponding to the second road surface. Thus, one or more partial areas formed by the road-side boundary on the map road are identified by one or more second road surfaces, and particularly, a green belt, a separation belt, a construction area, etc. on the map road can be identified in a high-precision map road network.

In this embodiment, determining the position information of the second road surface covering the second closed area includes the position information of the second closed area. The second road surface data includes the position information of the second road surface, and the position information of the second road surface is obtained, that is, the second road surface data is obtained.

In the implementation manner, the second road surface can be determined according to the closed area formed by the second boundary line directly aiming at the second boundary line capable of forming the closed area in the remaining road boundary lines, so that the accuracy of the second road surface is improved, and the accuracy of the data of the second road surface is further improved.

In yet another possible implementation, as shown in fig. 5, S504 includes S5044 to S5047:

s5044, determining whether a third boundary line that cannot form a closed region exists in the remaining boundary lines based on the positions of the remaining boundary lines.

In this implementation, in an actual situation, if the road boundary lines cannot form a closed area, at least one end point of the road boundary lines is not connected with the end points of other road boundary lines. Therefore, in the remaining boundary line other than the peripheral boundary line among the plurality of road boundary lines, it is possible to determine whether or not the end point of the remaining boundary line coincides with the end point of the other remaining boundary line, and if there is one end point of the remaining boundary line that does not coincide with the end point of the other remaining boundary line, the remaining boundary line is determined to be the third boundary line. Therefore, by judging the end points to be overlapped, the efficiency and the accuracy of identifying the third boundary line in the remaining boundary lines are improved.

S5045, if the third boundary line exists among the remaining boundary lines, determining a fourth boundary line which is adjacent to and parallel to each other among the third boundary lines according to the boundary line position of the third boundary line.

In this implementation, if a third boundary line that cannot form a closed region is identified among the remaining boundary lines, two adjacent and parallel fourth boundary lines may be screened out among the third boundary lines. Specifically, the third boundary lines that are parallel to each other may be determined in the third boundary lines, and then the third boundary lines that are parallel to each other and adjacent to each other may be determined in the third boundary lines that are parallel to each other according to the distance between the third boundary lines. For the sake of convenience of distinction, the third boundary lines which are parallel to each other and adjacent to each other are referred to as fourth boundary lines.

S5046, position information of a third closed region is determined based on the borderline position of the fourth boundary line, wherein the third closed region is formed by connecting the end points of the fourth boundary line.

One or more third closed regions may be provided, and a pair of adjacent and parallel fourth borderlines may form one third closed region. The position information of the third closed region may include position information of each edge of the third closed region, and the position information of each edge may include position coordinates of a plurality of points on each edge.

In this embodiment, after the fourth boundary lines are identified, for each pair of adjacent and parallel fourth boundary lines, the end points of the fourth boundary lines that are parallel to each other may be connected to form a closed region, and the closed region is referred to as a third closed region for the sake of convenience of distinction. Thus, one or more third closed regions can be obtained, and the fourth boundary line is the side of the third closed region. Thus, it may be determined that the position information of the third closed region includes the position of the boundary line forming the fourth boundary line of the third closed region.

And S5047, determining the position information of the second road surface according to the position information of the third closed area, wherein the second road surface data covers the third closed area.

And the third closed area corresponds to the second road surface one by one. The second road surface may cover a third closed area corresponding to the second road surface.

In this embodiment, determining the position information of the second road surface covering the third closed area includes the position information of the third closed area. The second road surface data includes the position information of the second road surface, and the position information of the second road surface is obtained, that is, the second road surface data is obtained.

In the above implementation, for the third boundary line that cannot form the closed region among the remaining road boundary lines, two pairs of parallel and adjacent fourth boundary lines are identified in the third boundary line, end points that are parallel to each other are connected for each pair of parallel and adjacent fourth boundary lines to form a third closed region, and the position information of the third closed region is determined according to the position information of the fourth boundary line, thereby determining the position information of the second road surface that covers the third closed region. Therefore, the road surface data generation method is provided for the road boundary line which cannot form the closed area, and the integrity and the accuracy of the road surface data are improved.

In the road surface data generation method, S5041 to S5043 and S5044 to S5047 may be included, S5041 to S5043 or S5044 to S5047 may be included, and S5044 to S5047 may be performed after S5041 to S5043 or before S5041 to S5043. In the case where the road surface data generation method includes S5041 to S5043 and S5044 to S5047, after the second boundary line is identified, the remaining boundary lines other than the second boundary line among the remaining boundary lines may be determined as the third boundary line, or after the third boundary line is identified, the remaining boundary lines other than the third boundary line among the remaining boundary lines may be determined as the second boundary line.

In some embodiments, the second road surface data further comprises a surface type corresponding to the second road surface and/or a region color corresponding to the second road surface. Therefore, in the process of generating the second road surface data, the road image of the map road may be acquired, the regional characteristics of the local region may be identified in the road image, and the surface type corresponding to the second road surface and/or the region color corresponding to the second road surface may be determined according to the regional characteristics. Therefore, the real characteristics of the local area covered by the second road surface are identified by the image, so that the accuracy of the surface type corresponding to the second road surface and/or the color of the area corresponding to the second road surface is improved.

The road image of the map road is a panoramic top view of the map road or satellite influence, and the real situation of the map road can be clearly displayed.

In this embodiment, the local area covered by the second road surface may be determined in the road image of the map road according to the position information of the second road surface; identifying the regional characteristics of the local region through an image identification algorithm; and determining the surface type corresponding to the second road surface as the type related to the regional characteristic, and/or determining the color corresponding to the second road surface as the color related to the regional characteristic.

Further, the determining, according to the area characteristics, a face type corresponding to the second road surface and/or an area color corresponding to the second road surface includes: determining the surface type corresponding to the second road surface as the area type of the local area; and determining the colors of the areas corresponding to the second road surfaces with the same surface type as the same color. Therefore, the surface type corresponding to the second road surface can reflect the area type of the local area covered by the second road surface; the surface type of the second road surface can be intuitively reflected through the color.

For example, if the area type of the partial area covered by the second road surface is a green belt, the surface type of the second road surface may be determined as a green belt type. For example, although the partial areas covered by the second road surfaces are green belts, the actual colors of the partial areas covered by the second road surfaces are different, and the partial areas covered by the second road surfaces can be represented by the same color as green.

In some embodiments, after the first road surface data and the second road surface data are generated, a logical check may be performed on the first road surface data and/or the second road surface data to obtain a road surface check result of the map road, where the logical check includes checking whether the road surface is closed and/or checking whether the road surface overlaps with other road surfaces. Therefore, through logical verification, the accuracy of the first road surface data and/or the second road surface data is improved.

In this embodiment, for the first road surface data, whether the first road surface is closed or not can be detected according to the position information of the first road surface, that is, whether each edge of the first road surface forms a closed area or not is detected. If the first road surface is not closed, the mark of the first road surface and the problem that the first road surface is not closed can be saved as a road surface verification result; since a map road has only one first road surface data, it is not necessary to check whether the first road surface data overlaps with other road surfaces. For the second road surface data, whether the second road surface is closed or not can be detected, and the checking process of whether the first road surface data is closed or not can be referred specifically, so that the details are not repeated; and whether the second road surface is overlapped with other second road surfaces or not can be detected, namely whether a cross overlapping area exists or not, if the second road surface is overlapped with other second road surface data, errors occur in the second road surface, and the mark of the second road surface and the problem that the second road surface is overlapped with other second road surface data can be stored as a road surface verification result.

Fig. 6 is a first schematic structural diagram of a road surface data generation device according to an embodiment of the present disclosure. As shown in fig. 6, the road surface data generating device 600 includes:

a road line determining unit 601 for determining road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines;

an identifying unit 602 configured to identify a peripheral boundary line located at a periphery of a map road among a plurality of road boundary lines, based on boundary line positions of the plurality of road boundary lines;

a first generation unit 603 configured to generate first road surface data based on the peripheral boundary line, the first road surface data including position information of a first road surface, the first road surface covering a global area of the map road;

a second generating unit 604 for generating second road surface data including position information of a second road surface covering a local area of the map road, based on a remaining boundary line of the plurality of road boundary lines except the peripheral boundary line.

Fig. 7 is a schematic structural diagram of a road surface data generation device according to an embodiment of the present disclosure. As shown in fig. 7, the road surface data generating device 700 includes:

a road line determining unit 701 for determining road line data of a map road, wherein the road line data includes boundary line positions of a plurality of road boundary lines;

an identifying unit 702 configured to identify a peripheral boundary line located at a periphery of a map road among a plurality of road boundary lines, based on boundary line positions of the plurality of road boundary lines;

a first generation unit 703 for generating first road surface data including position information of a first road surface covering a global area of a map road, based on the peripheral boundary line;

a second generating unit 704 configured to generate second road surface data including position information of a second road surface covering a local area of the map road, based on a remaining boundary line of the plurality of road boundary lines except the peripheral boundary line.

In some embodiments, the identifying unit 702 comprises: a peripheral boundary line determination module 7021 configured to determine that the peripheral boundary line includes the first boundary line if at least one side of the first boundary line does not have any other boundary line other than the first boundary line among the plurality of road boundary lines, based on the boundary line position of the road boundary line; wherein the first boundary line is any one of a plurality of road boundary lines.

In some embodiments, the first generating unit 703 includes: a first area position determining module 7031 for determining position information of a first closed area formed by the peripheral boundary line based on the boundary line position of the peripheral boundary line; the first road surface position determining module 7032 is configured to determine, according to the position information of the first closed region, position information of a first road surface, where the first road surface covers the first closed region.

In some embodiments, the first road surface data further includes a surface type corresponding to the first road surface and/or a region color corresponding to the first road surface, and the first generating unit 703 further includes: and a first attribute determining module (not shown in the figure) for determining that the surface type corresponding to the first road surface is a preset type, and/or for determining that the color of the area corresponding to the first road surface is a preset color.

In some embodiments, the second generating unit 704 includes: a first judging module 7041, configured to determine whether a second boundary line forming a closed region exists in the remaining boundary lines according to positions of the boundary lines of the remaining boundary lines; a second area position determining module 7042, configured to determine, if a second boundary line exists in the remaining boundary lines, position information of a second closed area formed by the second boundary line according to a boundary line position of the second boundary line; the second road surface position determining module 7043 is configured to determine, according to the position information of the second closed area, position information of a second road surface, where the second road surface covers the second closed area.

In some embodiments, the second generating unit 704 includes: a second determining module 7044, configured to determine whether a third boundary line that cannot form a closed region exists in the remaining boundary lines according to positions of the boundary lines of the remaining boundary lines; a parallel boundary line determining module 7045, configured to determine, according to the boundary line position of the third boundary line, every two adjacent and parallel fourth boundary lines in the third boundary line if the third boundary line exists in the remaining boundary lines; a third area position determination module 7046 configured to determine position information of a third closed area according to a boundary line position of a fourth boundary line, where the third closed area is formed by connecting end points of the fourth boundary line; and a third road surface determining module 7047, configured to determine, according to the position information of the third closed area, position information of the second road surface, where the second road surface data covers the third closed area.

In some embodiments, the second road surface data further includes a surface type corresponding to the second road surface and/or an area color corresponding to the second road surface, and the second generating unit 704 further includes: an image acquisition module (not shown in the figure) for acquiring a road image of a map road; a region identification module (not shown in the figure) for identifying the regional characteristics of the local region in the road image; and a second attribute determining module (not shown in the figure) for determining the face type corresponding to the second road surface and/or the region color corresponding to the second road surface according to the region characteristics.

In some embodiments, the regional characteristics of the local region include a region type of the local region, and the second attribute determination module includes: a type determining submodule (not shown in the figure) for determining that the surface type corresponding to the second road surface is the area type of the local area; and the color determining submodule (not shown in the figure) is used for determining the colors of the areas corresponding to the second road surfaces with the same surface type as the same color.

In some embodiments, the road surface data generating device further includes: the verifying unit 705 is configured to perform logical verification on the first road surface data and/or the second road surface data to obtain a road surface verifying result of the map road, where the logical verification includes verifying whether the road surface is closed and/or verifying whether the road surface overlaps with other road surfaces.

The road surface data generating devices provided in fig. 6 to fig. 7 may implement the corresponding method embodiments, and the implementation principle and the technical effect are similar, which are not described herein again.

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 disclosure 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, and are provided with corresponding operation entrances for the user to choose to authorize or reject.

According to an embodiment of the present disclosure, the present disclosure also provides an electronic device including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the aspects provided by any of the embodiments described above.

According to an embodiment of the present disclosure, there is also provided a non-transitory computer readable storage medium storing computer instructions for causing a computer to perform the aspects provided by any of the above embodiments.

According to an embodiment of the present disclosure, the present disclosure also provides a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.

Fig. 8 is a schematic block diagram of an example electronic device 800 that may be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit implementations of the disclosure described and/or claimed herein.

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

A number of components in the electronic device 800 are connected to the I/O interface 805, including: an input unit 806, such as a keyboard, a mouse, or the like; an output unit 807 such as various types of displays, speakers, and the like; a storage unit 808, such as a magnetic disk, optical disk, or the like; and a communication unit 809 such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows the electronic device 800 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

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

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

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

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

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

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

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The Server can be a cloud Server, also called a cloud computing Server or a cloud host, and is a host product in a cloud computing service system, so as to solve the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service ("Virtual Private Server", or simply "VPS"). The server may also be a server of a distributed system, or a server incorporating a blockchain.

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

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. A road surface data generation method, comprising:

identifying a peripheral boundary line located at a periphery of the map road among the plurality of road boundary lines according to the boundary line positions of the plurality of road boundary lines;

2. The road surface data generation method according to claim 1, wherein the identifying, among the plurality of road boundary lines, a peripheral boundary line located at a periphery of the map road in accordance with a boundary line position of the plurality of road boundary lines, includes:

determining that the peripheral boundary line includes a first boundary line if no other boundary line other than the first boundary line exists on at least one side of the first boundary line, in accordance with the boundary line position of the road boundary line;

wherein the first boundary line is any one of the plurality of road boundary lines.

3. The road surface data generation method according to claim 1, wherein the generating of the first road surface data from the peripheral boundary line includes:

determining position information of a first closed area formed by the peripheral boundary line according to the boundary line position of the peripheral boundary line;

and determining the position information of the first road surface according to the position information of the first closed area, wherein the first road surface covers the first closed area.

4. The road surface data generation method according to claim 3, wherein the first road surface data further includes a surface type corresponding to the first road surface and/or an area color corresponding to the first road surface, and after determining the position information of the first road surface according to the position information of the first closed area, the method further includes:

and determining that the surface type corresponding to the first road surface is a preset type, and/or determining that the area color corresponding to the first road surface is a preset color.

5. The road surface data generation method according to any one of claims 1 to 4, wherein the generating second road surface data from remaining boundary lines of the plurality of road boundary lines other than the peripheral boundary line includes:

determining whether a second boundary line forming a closed area exists in the residual boundary lines according to the boundary line positions of the residual boundary lines;

if the second boundary line exists in the residual boundary lines, determining the position information of a second closed area formed by the second boundary line according to the boundary line position of the second boundary line;

and determining the position information of the second road surface according to the position information of the second closed area, wherein the second road surface covers the second closed area.

6. The road surface data generation method according to any one of claims 1 to 4, wherein the generating second road surface data from remaining boundary lines of the plurality of road boundary lines other than the peripheral boundary line includes:

determining whether a third boundary line which cannot form a closed area exists in the residual boundary lines according to the boundary line positions of the residual boundary lines;

if the remaining boundary lines have the third boundary line, determining pairwise adjacent and parallel fourth boundary lines in the third boundary line according to the boundary line position of the third boundary line;

determining position information of a third closed region according to the boundary line position of the fourth boundary line, wherein the third closed region is formed by connecting the end points of the fourth boundary line;

and determining the position information of the second road surface according to the position information of the third closed area, wherein the second road surface data covers the third closed area.

7. The road surface data generation method according to any one of claims 1 to 4, wherein the second road surface data further includes a face type corresponding to the second road surface and/or a region color corresponding to the second road surface, the generating of the second road surface data from remaining ones of the plurality of road boundary lines other than the peripheral boundary line includes:

acquiring a road image of the map road;

identifying regional features of the local region in the road image;

and determining the surface type corresponding to the second road surface and/or the area color corresponding to the second road surface according to the area characteristics.

8. The road surface data generation method according to claim 7, wherein the region feature of the local region includes a region type of the local region, and the determining a surface type corresponding to the second road surface and/or a region color corresponding to the second road surface according to the region feature includes:

determining the surface type corresponding to the second road surface as the area type of the local area;

and determining the colors of the areas corresponding to the second road surfaces with the same surface type as the same color.

9. The road surface data generation method according to any one of claims 1 to 4, further comprising:

and logically checking the first road surface data and/or the second road surface data to obtain a road surface checking result of the map road, wherein the logical checking comprises checking whether the road surface is closed and/or whether the road surface is overlapped with other road surfaces.

10. A road surface data generating device comprising:

a road route determination unit for determining road route data of a map road, wherein the road route data includes boundary line positions of a plurality of road boundary lines;

an identifying unit configured to identify a peripheral boundary line located at a periphery of the map road among the plurality of road boundary lines, in accordance with boundary line positions of the plurality of road boundary lines;

11. The road surface data generation device according to claim 10, wherein the identification unit includes:

a peripheral boundary line determination module for determining that a peripheral boundary line includes a first boundary line if no boundary line other than the first boundary line exists on at least one side of the first boundary line, based on a boundary line position of the road boundary line;

12. The road surface data generation device according to claim 10, wherein the first generation unit includes:

the first area position determining module is used for determining position information of a first closed area formed by the peripheral boundary line according to the boundary line position of the peripheral boundary line;

and the first road surface position determining module is used for determining the position information of the first road surface according to the position information of the first closed area.

13. The road surface data generation device according to claim 12, wherein the first road surface data further includes a surface type corresponding to the first road surface and/or an area color corresponding to the first road surface, the first generation unit further includes:

the first attribute determining module is used for determining that the surface type corresponding to the first road surface is a preset type and/or determining that the area color corresponding to the first road surface is a preset color.

14. The road surface data generation device according to any one of claims 10 to 13, wherein the second generation unit includes:

the first judging module is used for determining whether a second boundary line forming a closed area exists in the residual boundary lines according to the positions of the boundary lines of the residual boundary lines;

the second area position determining module is used for determining position information of a second closed area formed by the second boundary line according to the boundary line position of the second boundary line if the second boundary line exists in the rest boundary lines;

and the second road surface position determining module is used for generating the position information of the second road surface according to the position information of the second closed area, and the second road surface covers the second closed area.

15. The road surface data generation device according to any one of claims 10 to 13, wherein the second generation unit includes:

the second judgment module is used for determining whether a third boundary line which cannot form a closed area exists in the residual boundary lines according to the positions of the boundary lines of the residual boundary lines;

a parallel boundary line determining module, configured to determine, if the remaining boundary lines have the third boundary line, pairwise adjacent and parallel fourth boundary lines in the third boundary line according to the boundary line position of the third boundary line;

a third area position determination module configured to determine position information of a third closed area according to a boundary line position of the fourth boundary line, wherein the third closed area is formed by connecting end points of the fourth boundary line;

and the third road surface determining module is used for determining the position information of the second road surface according to the position information of the third closed area, and the second road surface data covers the third closed area.

16. The road surface data generation device according to any one of claims 10 to 13, wherein the second road surface data further includes a surface type corresponding to the second road surface and/or a region color corresponding to the second road surface, the second generation unit includes:

the image acquisition module is used for acquiring a road image of the map road;

the region identification module is used for identifying the regional characteristics of the local region in the road image;

and the second attribute determining module is used for determining the surface type corresponding to the second road surface and/or the area color corresponding to the second road surface according to the area characteristics.

17. The road surface data generation apparatus according to claim 16, wherein the region feature of the local region includes a region type of the local region, the second attribute determination module includes:

the type determining submodule is used for determining that the face type corresponding to the second road surface is the area type of the local area;

and the color determining submodule is used for determining the colors of the areas corresponding to the second road surfaces with the same surface type as the same color.

18. The road surface data generation device according to any one of claims 10 to 13, further comprising:

and the checking unit is used for logically checking the first road surface data and/or the second road surface data to obtain a road surface checking result of the map road, wherein the logical checking comprises checking whether the road surface is closed and/or checking whether the road surface is overlapped with other road surfaces.

19. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of generating road surface data according to any one of claims 1 to 9.

20. A non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute the road surface data generation method according to any one of claims 1 to 9.

21. A computer program product comprising a computer program which, when executed by a processor, carries out the steps of the road surface data generating method of any one of claims 1 to 9.