CN117152299B - Lane dotted line rendering method, device, equipment, storage medium and program product - Google Patents
Lane dotted line rendering method, device, equipment, storage medium and program product Download PDFInfo
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Abstract
The application provides a lane dotted line rendering method, a lane dotted line rendering device, lane dotted line rendering equipment, a lane dotted line rendering storage medium and a lane dotted line rendering program product; the method relates to the field of Internet of vehicles and the field of intelligent transportation, and comprises the following steps: acquiring a target road route of an item in a target map road and a reference road route parallel to the target road route, and rendering a lane dotted line corresponding to the target road route; projecting at least one end point of each first lane solid line to a reference lane route, and determining a dotted line rendering starting point of the reference lane route based on a projection result; rendering a second lane solid line corresponding to at least two first lane solid lines respectively on a reference lane line based on the dotted line rendering start point; the broken line formed by the second road solid lines on the reference road line is determined as the lane broken line corresponding to the reference road line. Through the method and the device, the alignment degree of the lane dotted line can be effectively improved, so that the guiding performance of the lane dotted line is improved.
Description
Technical Field
The present disclosure relates to the field of computer technologies, and in particular, to a method, an apparatus, a device, a storage medium, and a program product for rendering a lane dashed line.
Background
Map navigation navigates the road ahead through an exhaustive navigation map. In practice, it has been found that if a lateral lane line (e.g., left lane line, right lane line) is missing in the front road, an error in navigation is easily caused, and thus, the user cannot efficiently reach the destination. It can be seen that, in the map navigation scene, the lane lines are used as important static semantic information, and have a significant influence on the guiding performance of the lane lines.
In the related art, lane dotted lines of a multi-item map road are drawn in parallel by performing equidistant drawing on the target map road, which easily causes that lane solid lines in different lane dotted lines cannot be aligned effectively, resulting in confusion of the lane dotted lines and lower alignment, thereby affecting the guiding performance of the lane dotted lines in the navigation map.
Disclosure of Invention
The embodiment of the application provides a lane dotted line rendering method, a lane dotted line rendering device, electronic equipment, a computer readable storage medium and a computer program product, which can effectively improve the alignment degree of the lane dotted line, thereby improving the guidance performance of the lane dotted line.
The technical scheme of the embodiment of the application is realized as follows:
The embodiment of the application provides a lane dotted line rendering method, which comprises the following steps:
acquiring a target road route in a target map road and a reference road route parallel to the target road route, and rendering a lane dotted line corresponding to the target road route, wherein the lane dotted line comprises a plurality of first lane solid lines;
projecting at least one end point of each first lane solid line to the reference lane route, and determining a dotted line rendering starting point of the reference lane route based on a projection result;
rendering a second lane solid line corresponding to at least two first lane solid lines on the reference lane line based on the dotted line rendering start point;
and determining a dotted line formed by the second road solid lines on the reference road line as a lane dotted line corresponding to the reference road line.
The embodiment of the application provides a rendering device of lane dotted line, including:
the acquisition module is used for acquiring a target road route in the target map road and a reference road route parallel to the target road route;
the target rendering module is used for rendering lane dotted lines corresponding to the target lane route, and the lane dotted lines comprise a plurality of first lane solid lines;
The projection module is used for projecting at least one end point of each first lane solid line to the reference lane route and determining a dotted line rendering starting point of the reference lane route based on a projection result;
the reference rendering module is used for rendering a second lane solid line corresponding to at least two first lane solid lines on the reference road line based on the dotted line rendering starting point; and determining a dotted line formed by the second road solid lines on the reference road line as a lane dotted line corresponding to the reference road line.
In the above scheme, the obtaining module is further configured to obtain a plurality of parallel road lines in the target map road, and determine radian parameters of each road line by combining a start point and an end point of each road line; wherein, the magnitude of the radian parameter is positively correlated with the corresponding bending degree of the road line; determining the road line with the smallest radian parameter as the target road line in the target map road; and determining a road line except the target road line as the reference road line among the plurality of mutually parallel road lines.
In the above aspect, the road line includes a plurality of road points, and the obtaining module is further configured to perform, for each of the road lines, the following processing: linearly connecting the starting point of the road line with the ending point of the road line to obtain a reference line corresponding to the road line; and obtaining the shortest distance between each road point on the road line and the datum line, and summing the shortest distances to obtain the radian parameter of the road line.
In the above scheme, the target road line comprises a plurality of target road points distributed at equal intervals, and the target rendering module is used for selecting a plurality of disjoint sub-target road lines on the target road line based on the plurality of target road points, wherein the sub-target road line comprises at least one target road point; rendering a first lane solid line corresponding to each sub-target lane route based on each sub-target lane route; and determining a dotted line formed by the first lane solid lines on the target road line as a lane dotted line corresponding to the target road line.
In the above-mentioned scheme, when the number of the target road points on the target road line is two, the target rendering module is configured to determine a target road point closest to a start point of the target road line on the target road line as a first target road point, and determine a target road point closest to an end point of the target road line on the target road line as a second target road point; determining a road line on the target road line between the starting point of the target road line and the first target road point as a sub-target road line corresponding to the first target road point; and determining a road line on the target road line between the end point of the target road line and the second target road point as a sub-target road line corresponding to the second target road point.
In the above-mentioned scheme, when the number of the target road points on the target road line is greater than two, the target rendering module is configured to determine a road line on the target road line between a start point of the target road line and a 1 st target road point as a sub-target road line corresponding to the 1 st target road point, where the 1 st target road point is a closest target road point on the target road line to the start point of the target road line; the following process is performed by traversal i: when the i-th target road point is not the closest target road point to the end point of the target road line and the i is even, determining a road line on the target road line between the i-th target road point and the i+1th target road point as a sub-target road line corresponding to the i-th target road point; and when the i-th target road point is the target road point closest to the destination of the target road line and the i is even, determining the road line on the target road line between the i-th target road point and the destination of the target road line as a sub-target road line corresponding to the i-th target road point. Wherein, N is used for indicating the number of target road points on the target road line, N is a positive integer greater than 2, and the N target road point is the target road point closest to the end point of the target road line.
In the above scheme, the target rendering module is configured to expand the width of each sub-target road line, so as to obtain an expanded road line corresponding to each sub-target road line; rendering each extended road route respectively, and taking the lane solid line corresponding to each obtained extended road route as a first lane solid line corresponding to the corresponding sub-target road route.
In the above aspect, the projection module is configured to perform, for each of the first lane solid lines, the following processing: projecting each end point of the first lane solid line to the reference lane route respectively to obtain a projection result corresponding to each end point of the first lane solid line; the projection result is used for indicating whether projection points corresponding to the endpoints exist on the reference road line or not; the projection module is further configured to perform the following processing for each of the end points of each of the first lane solid lines: and when the projection result of the end point indicates that a projection point corresponding to the end point exists on the reference road line, determining a dotted line rendering starting point corresponding to the projection point on the reference road line based on the projection point.
In the above scheme, the reference road line includes a plurality of road points, and the projection module is configured to compare each road point on the reference road line with the projection point respectively, so as to obtain a comparison result; when the comparison result indicates that the road point is overlapped with the projection point, determining the projection point as a dotted line rendering starting point of the reference road route; and when the comparison result indicates that the road point is not overlapped with the projection point, determining the road point closest to the projection point as a dotted line rendering starting point of the reference road line.
In the above aspect, the reference rendering module is further configured to select, from the plurality of first lane solid lines, a target lane solid line that can be projected on the reference road line, where the number of target lane solid lines is less than or equal to the number of first lane solid lines; selecting sub-reference road routes corresponding to the target lane solid lines respectively on the reference road line by combining the dotted line rendering starting point and the target lane solid lines, wherein the end points of the sub-reference road routes are the dotted line rendering starting point, and the different sub-reference road routes are not intersected; rendering each sub-reference road line respectively to obtain a second road solid line corresponding to each sub-reference road line.
In the above aspect, the reference rendering module is further configured to perform, for each of the first lane solid lines, the following processing: and when the projection results corresponding to the endpoints of the first lane solid line respectively indicate that the projection points corresponding to the endpoints exist on the reference road line, determining the first lane solid line as the target lane solid line.
In the above aspect, the reference rendering module is further configured to perform, for each target lane solid line, the following processing: selecting a target rendering starting point corresponding to each end point of the target lane solid line from the dotted line rendering starting points; and determining a road line between the two target rendering starting points on the reference road line as a sub-reference road line corresponding to the target lane solid line.
An embodiment of the present application provides an electronic device, including:
a memory for storing computer executable instructions or computer programs;
and the processor is used for realizing the rendering method of the lane dotted line provided by the embodiment of the application when executing the computer executable instructions or the computer programs stored in the memory.
The embodiment of the application provides a computer readable storage medium, which stores computer executable instructions for causing a processor to execute, so as to implement the method for rendering the lane dotted line.
Embodiments of the present application provide a computer program product comprising a computer program or computer-executable instructions stored in a computer-readable storage medium. The processor of the electronic device reads the computer-executable instructions from the computer-readable storage medium, and executes the computer-executable instructions, so that the electronic device executes the method for rendering the lane dashed line according to the embodiment of the present application.
The embodiment of the application has the following beneficial effects:
the method comprises the steps of projecting at least one end point of each first road solid line to a reference road route, determining a broken line rendering starting point of the reference road route based on a projection result, rendering second road solid lines corresponding to at least two first road solid lines on the reference road route based on the broken line rendering starting point, and determining a broken line formed by each second road solid line on the reference road route as a lane broken line corresponding to the reference road route. In this way, at least one end point of each first lane solid line is projected to the reference lane route, and second lane solid lines corresponding to at least two first lane solid lines are rendered based on projection results, so that alignment of the second lane solid lines and the corresponding first lane solid lines is realized through projection, visual alignment of the second lane solid lines in the lane dashed lines corresponding to the reference lane lines and the first lane solid lines in the lane dashed lines corresponding to the target lane route can be realized, alignment degree of the lane dashed lines is effectively improved, and guiding performance of the lane dashed lines is effectively improved.
Drawings
Fig. 1 is a schematic architecture diagram of a lane dashed rendering system provided in an embodiment of the present application;
fig. 2 is a schematic structural diagram of an electronic device for rendering lane dashed lines according to an embodiment of the present application;
fig. 3 is a flowchart of a method for rendering a lane dashed line according to an embodiment of the present application;
fig. 4 is a schematic diagram of a method for rendering a lane dashed line according to an embodiment of the present application;
fig. 5 is a schematic diagram two of a method for rendering a lane dashed line according to an embodiment of the present application;
fig. 6 is a second flowchart of a method for rendering a lane dashed line according to an embodiment of the present application;
fig. 7 is a schematic diagram III of a method for rendering a lane dashed line according to an embodiment of the present application;
fig. 8 is a flowchart of a method for rendering a lane dashed line according to an embodiment of the present application;
FIG. 9 is a schematic diagram of a sub-target track route according to an embodiment of the present disclosure;
FIG. 10 is a schematic diagram II of a sub-target track route according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram III of a sub-target track route provided in an embodiment of the present application;
fig. 12 is a flowchart of a method for rendering a lane dashed line according to an embodiment of the present application;
Fig. 13 is a flowchart fifth of a method for rendering a lane dashed line according to an embodiment of the present application;
fig. 14 is a flowchart of a method for rendering a lane dashed line according to an embodiment of the present application;
fig. 15 is a schematic view of a rendering effect of a lane dashed line provided in an embodiment of the present application;
fig. 16 is a schematic diagram four of a method for rendering a lane dashed line according to an embodiment of the present application;
fig. 17 is a schematic diagram five of a method for rendering a lane dashed line according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.
In the following description, reference is made to "some embodiments" which describe a subset of all possible embodiments, but it is to be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments and can be combined with one another without conflict.
In the following description, the terms "first", "second", "third" and the like are merely used to distinguish similar objects and do not represent a specific ordering of the objects, it being understood that the "first", "second", "third" may be interchanged with a specific order or sequence, as permitted, to enable embodiments of the application described herein to be practiced otherwise than as illustrated or described herein.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
Before further describing embodiments of the present application in detail, the terms and expressions that are referred to in the embodiments of the present application are described, and are suitable for the following explanation.
1) Lane line (Traffic Index Line): the present invention relates to a road surface marking, which is used to transmit traffic information such as guidance, restriction, warning, etc. to traffic participants by using lines, arrows, characters, elevation marks, raised road marks, outline marks, etc. The traffic control device has the functions of controlling and guiding traffic, and can be matched with a sign for use or used independently. Whether the lane lines are arranged reasonably or not meets relevant regulations and should be capable of withstanding driving inspection. The marked line can better ensure traffic safety and guide civilized driving. The lane line comprises a lane solid line and a lane dotted line, and the lane dotted line is formed by a plurality of lane solid lines which are not connected with each other.
2) The intelligent transportation system (Intelligent Traffic System, ITS), also called intelligent transportation system (Intelligent Transportation System), is a comprehensive transportation system which uses advanced scientific technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operation study, artificial intelligence, etc.) effectively and comprehensively for transportation, service control and vehicle manufacturing, and enhances the connection among vehicles, roads and users, thereby forming a comprehensive transportation system for guaranteeing safety, improving efficiency, improving environment and saving energy.
3) Intelligent vehicle road collaboration system (Intelligent Vehicle Infrastructure Cooperative Systems, IVICS): the vehicle-road cooperative system is one development direction of Intelligent Traffic Systems (ITS). The vehicle-road cooperative system adopts advanced wireless communication, new generation internet and other technologies, carries out vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time idle dynamic traffic information acquisition and fusion, fully realizes effective cooperation of people and vehicles and roads, ensures traffic safety, improves traffic efficiency, and forms a safe, efficient and environment-friendly road traffic system.
4) Automatic assisted navigation driving function (Navigate on Autopilot, NOA): the vehicle can be guided to automatically run by setting the destination, and operations such as lane changing overtaking, automatic entering and exiting the ramp can be completed under the detection of a driver. The driving behavior of the NOA is cruising, following, evading, letting go, single rule lane behavior planning (e.g. incorporated into a fast lane, expected exit), multi-condition decision lane behavior (lane change during cruising).
5) In response to: for representing a condition or state upon which an operation is performed, one or more operations performed may be in real-time or with a set delay when the condition or state upon which the operation is dependent is satisfied; without being specifically described, there is no limitation in the execution sequence of the plurality of operations performed.
6) Automatic driving: by means of cooperation of artificial intelligence, visual computing, radar, an image acquisition device, a global positioning system and the like, the vehicle running task can be guided and decided under the condition that a driver does not need to execute physical driving operation, and the vehicle can complete safe running by replacing the operation and control actions of the driver.
7) Navigation route: the route calculated according to the set navigation starting point and the set navigation ending point is that a series of roads are passed through from the navigation starting point, and finally the navigation ending point is reached. In the embodiment of the present application, the navigation route may include a lane proposed to travel on each road that needs to be traversed, or may not distinguish between lanes, or of course, may distinguish between lanes on a part of the roads, and may not distinguish between lanes on a part of the roads.
In the implementation of the embodiments of the present application, the applicant found that the related art has the following problems:
in the related art, lane broken lines of a multi-item map road are drawn in parallel by performing equidistant drawing on the target map road, which easily causes that lane solid lines in different lane broken lines cannot be aligned effectively, and the lane broken lines are disordered, so that the guiding performance of the lane broken lines is affected.
The embodiment of the application provides a lane dotted line rendering method, a lane dotted line rendering device, an electronic device, a computer readable storage medium and a computer program product, which can effectively improve the alignment degree of the lane dotted line, thereby improving the guidance performance of the lane dotted line, and the following describes an exemplary application of the lane dotted line rendering system provided by the embodiment of the application.
Referring to fig. 1, fig. 1 is a schematic architecture diagram of a rendering system 100 for lane dashed lines provided in an embodiment of the present application, where a terminal (a terminal 400 is shown in an exemplary manner) is connected to a server 200 through a network 300, and the network 300 may be a wide area network or a local area network, or a combination of the two.
The terminal 400 is configured to display lane dashes on a graphical interface 410-1 (the graphical interface 410-1 is shown as an example) for a user to use the client 410. The terminal 400 and the server 200 are connected to each other through a wired or wireless network.
In some embodiments, the server 200 may be a stand-alone physical server, a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. The terminal 400 may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart television, a smart watch, a car terminal, etc. The electronic device provided in the embodiment of the application may be implemented as a terminal or as a server. The terminal and the server may be directly or indirectly connected through wired or wireless communication, which is not limited in the embodiments of the present application.
In some embodiments, the server 200 acquires the target road route and the reference road route, receives the lane dotted line of the target road route sent by the terminal 400, the server 200 projects at least one end point of the first lane solid line to the reference road route, determines a dotted line rendering start point of the reference road route based on the projection result, sends the dotted line rendering start point to the terminal 400, the terminal 400 renders the second lane solid lines corresponding to at least two first lane solid lines on the reference road line based on the dotted line rendering start point, determines the dotted line formed by each second lane solid line on the reference road line as the lane dotted line corresponding to the reference road line, and renders the lane dotted line corresponding to the target road route.
In other embodiments, the server 200 obtains the target road route and the reference road route, renders the lane dotted line corresponding to the target road route, projects at least one end point of each first lane solid line to the reference road route, determines a dotted line rendering start point of the reference road route based on the projection result, renders the second lane solid line corresponding to at least two first lane solid lines on the reference road route based on the dotted line rendering start point, and sends the lane dotted line corresponding to the reference road route and the lane dotted line corresponding to the target road route to the terminal 400.
In other embodiments, the embodiments of the present application may be implemented by means of Cloud Technology (Cloud Technology), which refers to a hosting Technology that unifies serial resources such as hardware, software, networks, etc. in a wide area network or a local area network, so as to implement calculation, storage, processing, and sharing of data.
The cloud technology is a generic term of network technology, information technology, integration technology, management platform technology, application technology and the like based on cloud computing business model application, can form a resource pool, and is flexible and convenient as required. Cloud computing technology will become an important support. Background services of technical network systems require a large amount of computing and storage resources.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an electronic device 500 for rendering a lane dashed line according to an embodiment of the present application, where the electronic device 500 shown in fig. 2 may be the server 200 or the terminal 400 in fig. 1, and the electronic device 500 shown in fig. 2 includes: at least one processor 430, a memory 450, at least one network interface 420. The various components in electronic device 500 are coupled together by bus system 440. It is understood that the bus system 440 is used to enable connected communication between these components. The bus system 440 includes a power bus, a control bus, and a status signal bus in addition to the data bus. But for clarity of illustration the various buses are labeled in fig. 2 as bus system 440.
The processor 430 may be an integrated circuit chip with signal processing capabilities such as a general purpose processor, which may be a microprocessor or any conventional processor, or the like, a digital signal processor (DSP, digital Signal Processor), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or the like.
Memory 450 may be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid state memory, hard drives, optical drives, and the like. Memory 450 optionally includes one or more storage devices physically remote from processor 430.
Memory 450 includes volatile memory or nonvolatile memory, and may also include both volatile and nonvolatile memory. The nonvolatile Memory may be a Read Only Memory (ROM), and the volatile Memory may be a random access Memory (RAM, random Access Memory). The memory 450 described in the embodiments herein is intended to comprise any suitable type of memory.
In some embodiments, memory 450 is capable of storing data to support various operations, examples of which include programs, modules and data structures, or subsets or supersets thereof, as exemplified below.
An operating system 451 including system programs, e.g., framework layer, core library layer, driver layer, etc., for handling various basic system services and performing hardware-related tasks, for implementing various basic services and handling hardware-based tasks;
a network communication module 452 for accessing other electronic devices via one or more (wired or wireless) network interfaces 420, the exemplary network interface 420 comprising: bluetooth, wireless compatibility authentication (WiFi, wireless Fidelity), and universal serial bus (USB, universal Serial Bus), etc.
In some embodiments, the lane-broken rendering device provided in the embodiments of the present application may be implemented in a software manner, and fig. 2 shows the lane-broken rendering device 455 stored in the memory 450, which may be software in the form of a program and a plug-in, and includes the following software modules: the acquisition module 4551, the target rendering module 4552, the projection module 4553, the reference rendering module 4554 are logical, and thus may be arbitrarily combined or further split according to the implemented functions. The functions of the respective modules will be described hereinafter.
In other embodiments, the lane-line rendering apparatus provided in the embodiments of the present application may be implemented in hardware, and as an example, the lane-line rendering apparatus provided in the embodiments of the present application may be a processor in the form of a hardware decoding processor that is programmed to perform the lane-line rendering method provided in the embodiments of the present application, for example, the processor in the form of a hardware decoding processor may employ one or more application specific integrated circuits (ASIC, application Specific Integrated Circuit), DSP, programmable logic device (PLD, programmable Logic Device), complex programmable logic device (CPLD, complex Programmable Logic Device), field programmable gate array (FPGA, field-Programmable Gate Array), or other electronic components.
In some embodiments, the terminal or the server may implement the method for rendering the lane dashed line provided in the embodiments of the present application by running a computer program or computer executable instructions. For example, the computer program may be a native program (e.g., a dedicated lane-broken rendering program) or a software module in an operating system, e.g., a lane-broken rendering module that may be embedded in any program (e.g., an instant messaging client, an album program, an electronic map client, a navigation client); for example, a Native Application (APP) may be used, i.e. a program that needs to be installed in an operating system to be run. In general, the computer programs described above may be any form of application, module or plug-in.
The method for rendering the lane dashed line provided in the embodiment of the present application will be described in conjunction with exemplary applications and implementations of the server or the terminal provided in the embodiment of the present application.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for rendering a lane dashed line according to an embodiment of the present application, which will be described with reference to steps 101 to 106 shown in fig. 3, the method for rendering a lane dashed line according to an embodiment of the present application may be implemented by a server or a terminal alone or by a server and a terminal cooperatively, and will be described below by taking a server alone as an example.
In step 101, an entry road route in the target map road and a reference road route parallel to the target road route are acquired.
In some embodiments, the target road route and the reference road route are parallel to each other, and each of the target road route and the reference road route refers to a road route in a target map road in the target map, the road route in the target map is invisible in the target map, and the road route refers to a virtual route formed by connecting a plurality of road data points in the target map.
As an example, referring to fig. 4, fig. 4 is a schematic diagram of a method for rendering a lane dashed line according to an embodiment of the present application, and an entry target road route 41 in a target map road and a reference road route 42 parallel to the target road route 41 are obtained.
In some embodiments, referring to fig. 6, fig. 6 is a second flowchart of a method for rendering a lane dashed line according to an embodiment of the present application, and step 101 shown in fig. 3 may be implemented by steps 1011 to 1013 shown in fig. 6.
In step 1011, a plurality of road lines parallel to each other in the target map road are acquired, and the radian parameter of each road line is determined in combination with the start point and the end point of each road line.
In some embodiments, the magnitude of the radian parameter is positively correlated with the degree of curvature of the corresponding road line.
As an example, the road line in the target map road includes a road line a, a road line B, and a road line C, the radian parameter of the road line a is greater than the radian parameter of the road line B, and the radian parameter of the road line B is greater than the radian parameter of the road line C, and then the degree of curvature of the road line a is greater than the degree of curvature of the road line B, and the degree of curvature of the road line B is greater than the degree of curvature of the road line C.
In some embodiments, the road lines include a plurality of road points, and the step 1011 may be implemented by performing the following steps for each road line: linearly connecting the starting point of the road line with the ending point of the road line to obtain a reference line corresponding to the road line; and obtaining the shortest distances between each road point on the road line and the datum line, and summing the shortest distances to obtain the radian parameter of the road line.
In some embodiments, the radian parameter of the road line may be expressed as:
（1）
wherein,radian parameter for indicating the course of a track, +.>、/>、/>And the device is used for indicating the shortest distance between each road point on the road line and the datum line.
As an example, referring to fig. 5, fig. 5 is a schematic diagram two of a method for rendering a lane broken line according to an embodiment of the present application, where a road line includes a start point, an end point and a road point a 1 Road point A 2 Road point A 3 Road point A 4 。
The example is carried out by connecting the road point A on the road line 1 Road point A 2 Road point A 3 Road point A 4 And summing the shortest distances between the road line and the datum line respectively, and determining the summation result as an radian parameter of the road line.
In step 1012, the road route with the smallest radian parameter is determined as the target road route in the target map road.
As an example, the target map road includes a road line a, a road line B, and a road line C, where the radian parameter of the road line a is 15, the radian parameter of the road line B is 25, the radian parameter of the road line C is 8, and the road line C with the smallest radian parameter is determined as the target road line in the target map road.
In step 1013, among the plurality of mutually parallel road routes, the road route other than the target road route is determined as the reference road route.
In the above example, the target map road includes a road line a, a road line B, and a road line C, and among the plurality of mutually parallel road lines of the target map road, the road lines other than the target road line (road line C), that is, the road line a and the road line B are determined as the reference road line.
Therefore, the road line with the smallest radian parameter is the road line with the longest length in the road lines, the road line with the smallest radian parameter can be projected to more road lines, the road line with the smallest radian parameter is determined to be the target road line in the target map road, and the road lines except the target road line in a plurality of mutually parallel road lines are determined to be the reference road line, so that the lane dotted line of the target road line is determined firstly and then is determined through the lane dotted line of the target road line, the lane dotted line of the reference road line is enabled to be aligned with the lane dotted line in more reference lane lines, and the guiding performance of the lane dotted line in the target map road is effectively improved.
In step 102, a lane dashed line corresponding to the target road line is rendered.
In some embodiments, the lane dashed line corresponding to the target lane route includes a plurality of first lane solid lines, the lane dashed line corresponding to the target lane route is made up of a plurality of first lane solid lines, and each of the first lane solid lines in the lane dashed line do not intersect with each other.
As an example, referring to fig. 7, fig. 7 is a schematic diagram three of a method for rendering a lane dashed line provided in the embodiment of the present application, where the lane dashed line 71 corresponding to the target lane route includes a plurality of first lane solid lines, for example, the lane dashed line 71 corresponding to the target lane route as shown in fig. 7 includes a first lane solid line 711, a first lane solid line 712, a first lane solid line 713, a first lane solid line 714, and a first lane solid line 715, and the first lane solid line 711, the first lane solid line 712, the first lane solid line 713, the first lane solid line 714, and the first lane solid line 715 do not intersect each other on the target lane line.
In some embodiments, referring to fig. 8, fig. 8 is a flowchart illustrating a method for rendering a lane dashed line according to an embodiment of the present application, and step 102 shown in fig. 3 may be implemented by steps 1021 through 1023 shown in fig. 8.
In step 1021, a plurality of disjoint sub-target road routes are selected on the target road line based on the plurality of target road points.
In some embodiments, the sub-target road line includes at least one target road point, where the target road point may be on an end point of the sub-target road line, and the target road point may be any point on the sub-target road line other than the end point, and the following description will take the example where the target road point is on the end point of the sub-target road line.
In some embodiments, when the number of the target road points on the target road line is two, the selecting, based on the plurality of target road points, a plurality of disjoint sub-target road lines on the target road line may be implemented by: determining a target road point closest to a starting point of the target road line on the target road line as a first target road point, and determining a target road point closest to an ending point of the target road line on the target road line as a second target road point; determining a road line on the target road line between the starting point of the target road line and the first target road point as a sub-target road line corresponding to the first target road point; and determining a road line on the target road line between the end point of the target road line and the second target road point as a sub-target road line corresponding to the second target road point.
As an example, referring to fig. 9, fig. 9 is a schematic diagram of a sub-target road route provided in the embodiment of the present application, when the number of target road points (referring to fig. 9, target road points 82 and 83) on a target road route (referring to fig. 9, a target road route between a start point 81 and a start point 84) is two, a target road point 82 closest to the start point 81 of the target road route on the target road route is determined as a first target road point, and a target road point 83 closest to the end point 84 of the target road route on the target road route is determined as a second target road point; determining a road line on the target road line between the starting point 81 of the target road line and the first target road point 82 as a sub-target road line corresponding to the first target road point 82; a road line on the target road line between the end point 84 of the target road line and the second target road point 83 is determined as a sub-target road line corresponding to the second target road point 83.
In some embodiments, when the number of the target road points on the target road line is greater than two, the selecting, based on the plurality of target road points, a plurality of disjoint sub-target road lines on the target road line may be implemented by: determining a road line on a target road line between a starting point of the target road line and a 1 st target road point as a sub-target road line corresponding to the 1 st target road point, wherein the 1 st target road point is a target road point closest to the starting point of the target road line on the target road line; the following process is performed by traversal i: when the i-th target road point is not the closest target road point to the end point of the target road line and i is an even number, determining the road line on the target road line between the i-th target road point and the i+1-th target road point as a sub-target road line corresponding to the i-th target road point; and when the ith target road point is the target road point closest to the end point of the target road line on the target road line and i is an even number, determining the road line on the target road line between the ith target road point and the end point of the target road line as a sub-target road line corresponding to the ith target road point.
In some embodiments, the aboveN is used for indicating the number of target road points on a target road line, N is a positive integer greater than 2, and the N target road point is the target road point closest to the end point of the target road line on the target road line.
In some embodiments, when the i-th target road point is not the closest target road point to the end point of the target road route on the target road line, and i is an odd number, the i-th target road point has no corresponding sub-target road route.
In some embodiments, when the i-th target road point is the closest target road point to the end point of the target road route on the target road line, and i is an odd number, the i-th target road point has no corresponding sub-target road route.
As an example, referring to fig. 10, fig. 10 is a schematic diagram ii of a sub-target road route provided in the embodiment of the present application, when the number of target road points (referring to fig. 10, target road points 86, 87, and 88) on the target road route (referring to fig. 10, the target road route between the start point 85 and the 1 st target road point 86 of the target road route) is greater than two, the sub-target road route corresponding to the 1 st target road point 86 is determined, and the 1 st target road point 86 is the closest target road point on the target road route to the start point 85 of the target road route; when the 2 nd target road point 87 is not the closest target road point to the end point 89 of the target road route on the target road line and 2 is an even number, the road line on the target road line between the 2 nd target road point 87 and the 3 rd target road point 88 is determined as the sub-target road route corresponding to the 2 nd target road point 87.
As an example, referring to fig. 11, fig. 11 is a schematic diagram three of a sub-target road route provided in the embodiment of the present application, when the number of target road points (referring to fig. 10, target road points 92, 93 and 94, 95) on the target road route (referring to fig. 11, the target road route between the start point 91 and the 1 st target road point 92 of the target road route) is greater than two, the sub-target road route corresponding to the 1 st target road point 92 is determined, and the 1 st target road point 92 is the closest target road point on the target road route to the start point 91 of the target road route. When the 2 nd target road point 93 is not the closest target road point to the end point 96 of the target road route on the target road line and 2 is an even number, the road line on the target road line between the 2 nd target road point 93 and the 3 rd target road point 94 is determined as the sub-target road route corresponding to the 2 nd target road point 93. When the 4 th target road point 95 is the closest target road point to the end point 96 of the target road route on the target road line and 4 is an even number, the road line on the target road line between the 4 th target road point 95 and the end point 96 of the target road route is determined as the sub-target road route corresponding to the 4 th target road point.
Therefore, based on a plurality of target road points, a plurality of disjoint sub-target road routes are selected on the target road line, so that an accurate data base can be laid for accurately rendering a first lane solid line corresponding to the sub-target road route, and the rapid rendering of the lane dotted line corresponding to the target road line can be realized.
In step 1022, based on each sub-target road line, a first road solid line corresponding to each sub-target road line is rendered.
In some embodiments, step 1022 may be implemented as follows: respectively expanding the width of each sub-target road line to obtain an expanded road line corresponding to each sub-target road line; rendering each extended road line respectively, and taking the lane solid line corresponding to each extended road line as the first lane solid line corresponding to the corresponding sub-target road line.
In some embodiments, the width expansion is performed on each sub-target road line to obtain an expanded road line corresponding to each sub-target road line, which may be implemented in the following manner: the following processing is performed for each sub-target track route: the method comprises the steps of obtaining initial widths of sub-target road routes, determining adjustment widths of the sub-target road routes based on the initial widths of the sub-target road routes, adjusting the sub-target road routes from the initial widths to the adjustment widths, and determining the adjusted sub-target road routes as expansion road routes corresponding to the sub-target road routes.
In some embodiments, the sub-target road line may be completely transparent, and by performing transparency adjustment, color rendering and other rendering means on the extended road line corresponding to the sub-target road line, the extended road line may be presented in the navigation interface.
In step 1023, the dotted line formed by the first lane solid lines on the target road line is determined as the lane dotted line corresponding to the target road line.
In the above example, referring to fig. 10, a broken line formed by a first lane solid line on the target road line (a first lane solid line between the start point 85 and the target road point 86, and a first lane solid line between the target road point 87 and the target road point 88) is determined as a lane broken line corresponding to the target road line.
In the above example, referring to fig. 11, the broken line formed by the first lane solid line on the target road line (the first lane solid line between the start point 91 and the target road point 92, the first lane solid line between the target road point 93 and the target road point 94, the target road point 95, and the end point 96) is determined as the lane broken line corresponding to the target road line.
Therefore, the lane dotted line corresponding to the target road line is rendered firstly, so that the subsequent rendering of the lane dotted line corresponding to the reference road line based on the lane dotted line corresponding to the target road line is facilitated, the lane dotted line corresponding to the target road line and the lane dotted line corresponding to the reference road line can be aligned, and the guiding performance of the lane dotted line in the target map road is effectively improved.
In step 103, at least one end point of each first lane solid line is projected toward the reference lane route.
In some embodiments, the projecting at least one end point of each first lane solid line toward the reference lane route may be implemented by: and projecting each end point of the first lane solid line to the reference road line aiming at each first lane solid line to obtain a projection result corresponding to each end point.
In other embodiments, the projecting at least one end point of each first lane solid line toward the reference lane route may be further implemented by: and projecting one end point of the first lane solid line to the reference lane route aiming at each first lane solid line to obtain a projection result corresponding to one end point. Then, the following step 104 is executed to determine a dashed rendering start point of the reference road route based on the projection result, then, the other end point of the first road solid line is projected to the reference road route to obtain a projection result corresponding to the other end point, and then, the step 104 is executed to determine the dashed rendering start point of the reference road route based on the projection result.
In some embodiments, referring to fig. 12, fig. 12 is a flowchart of a method for rendering a lane dashed line according to an embodiment of the present application, and step 103 shown in fig. 3 may be implemented by executing step 1031 shown in fig. 12 for each first lane solid line.
In step 1031, each end point of the first lane solid line is projected to the reference lane route, so as to obtain a projection result corresponding to each end point of the first lane solid line.
In some embodiments, the projection result is used to indicate whether there is a projection point corresponding to the corresponding endpoint on the reference road line.
As an example, referring to fig. 7, taking the reference road route 72 as an example, each end point of the first lane solid line 711 is projected to the reference road route 72, so as to obtain projection results corresponding to each end point of the first lane solid line 711, where each projection result corresponding to each end point of the first lane solid line 711 indicates that a projection point corresponding to a corresponding end point exists on the reference road route 72.
As an example, referring to fig. 7, taking the reference road route 72 as an example, each end point of the first lane solid line 714 is projected to the reference road route 72, so as to obtain projection results corresponding to each end point of the first lane solid line 714, where the projection results corresponding to each end point of the first lane solid line 714 indicate that no projection point corresponding to the corresponding end point exists on the reference road route 72.
In this way, each end point of the first lane solid line is projected to the reference lane route respectively to obtain a projection result corresponding to each end point of the first lane solid line, and the projection result is used for indicating whether a projection point corresponding to a corresponding end point exists on the reference lane line, so that the subsequent projection result indicating that the projection point corresponding to the corresponding end point exists on the reference lane line is convenient for accurately determining the virtual line rendering starting point of the reference lane route.
In step 104, a dashed rendering start point of the reference road route is determined based on the projection result.
In some embodiments, when the projection result indicates that there is a projection point corresponding to the corresponding end point on the reference road line, the projection point corresponds to a dashed line rendering start point, and when the projection result indicates that there is no projection point corresponding to the corresponding end point on the reference road line, the projection point does not correspond to a dashed line rendering start point.
In some embodiments, referring to fig. 13, fig. 13 is a flowchart of a method for rendering a lane dashed line according to an embodiment of the present application, and step 104 shown in fig. 13 may be implemented by executing step 1041 shown in fig. 12 for each end point of each first lane solid line.
In step 1041, when the projection result of the endpoint indicates that there is a projection point corresponding to the endpoint on the reference road line, a virtual line rendering start point corresponding to the projection point on the reference road line is determined based on the projection point.
In some embodiments, when the projection result indicates that there is a projection point corresponding to the corresponding end point on the reference road line, the projection point corresponds to a dashed line rendering start point, and when the projection result indicates that there is no projection point corresponding to the corresponding end point on the reference road line, the projection point does not correspond to a dashed line rendering start point.
In some embodiments, the reference road line includes a plurality of road points, and the determining, based on the projection points, a rendering start point of a dotted line corresponding to the projection points on the reference road line may be implemented as follows: comparing each road point on the reference road line with the projection point respectively to obtain a comparison result; when the comparison result indicates that the road point is overlapped with the projection point, determining the projection point as a dotted line rendering starting point of the reference road route; and when the comparison result indicates that no road point is overlapped with the projection point, determining the road point closest to the projection point as a dotted line rendering starting point of the reference road line.
As an example, referring to fig. 7, taking an endpoint P2 on the first lane solid line 713 as an example, a projection point of the endpoint P2 corresponding to the reference lane line 72 is P2 ', each road point on the reference lane line 72 is compared with the projection point P2 ', and a comparison result is obtained, where the comparison result indicates that there is a road point overlapping with the projection point, and the projection point P2 ' is determined as a dotted line rendering start point of the reference lane line.
As an example, referring to fig. 7, taking an endpoint P1 on the first lane solid line 713 as an example, a projection point of the endpoint P2 corresponding to the reference lane line 72 is P1 ', each road point on the reference lane line 72 is compared with the projection point P1″ to obtain a comparison result, the comparison result indicates that there is no overlap between the road point and the projection point, and the road point P1 ' closest to the projection point P1 ' is determined as a dotted line rendering start point of the reference lane line.
In this way, each road point on the reference road line is respectively compared with the projection point to obtain a comparison result; when the comparison result indicates that the road point is overlapped with the projection point, determining the projection point as a dotted line rendering starting point of the reference road route; when the comparison result indicates that the road point is not overlapped with the projection point, the road point closest to the projection point is determined as a dotted line rendering starting point of the reference road route, so that the end point on the first lane solid line can be approximately aligned with the corresponding projection point, the first lane solid line on the target lane line and the corresponding second lane solid line on the reference lane line can be approximately aligned, visual interference is not generated, and the guiding performance of the lane dotted line in the target map road is effectively improved.
In step 105, a second lane solid line corresponding to each of the at least two first lane solid lines is rendered on the reference lane line based on the dashed line rendering start point.
In some embodiments, since the second lane solid lines are used to form the lane dashed lines corresponding to the reference road lines, the lane dashed lines need at least two lane solid lines that do not intersect each other to be able to be formed, that is, the number of the second lane solid lines is at least two, and since the first lane solid lines and the second lane solid lines cannot completely realize one-to-one correspondence, it is required that at least two first lane solid lines correspond to the second lane solid lines.
As an example, referring to fig. 7, taking the reference road route 72 as an example, on the reference road route 72, the first road solid line 711 corresponds to the second road solid line 721, the first road solid line 712 corresponds to the second road solid line 722, and the first road solid line 713 corresponds to the second road solid line 723, and the first road solid line 714 and the first road solid line 715 do not correspond to the second road solid line on the reference road route 72, because the projection results of the first road solid line 714 and the first road solid line 715 on the reference road route 72 each indicate that there is no projection point corresponding to the respective end point on the reference road route.
As an example, referring to fig. 7, referring to the reference road route 73 and the reference road route 74 in fig. 7, taking the reference road route 73 as an example, on the reference road route 73, the first road solid line 711 corresponds to the second road solid line 731, the first road solid line 712 corresponds to the second road solid line 732, the first road solid line 713 corresponds to the second road solid line 733, the first road solid line 714 corresponds to the second road solid line 734, the first road solid line 715 corresponds to the second road solid line 734, and the first road solid line 715 corresponds to the second road solid line 735.
In some embodiments, referring to fig. 14, fig. 14 is a flowchart illustrating a method for rendering a lane dashed line according to an embodiment of the present application, and step 105 shown in fig. 14 may be implemented by executing steps 1051 to 1053 shown in fig. 14.
In step 1051, a target lane solid line that can be projected on a reference road line is selected from a plurality of first lane solid lines.
In some embodiments, the number of target lane solid lines is less than or equal to the number of first lane solid lines.
In some embodiments, the projection results corresponding to the respective end points of the target lane solid line indicate that there is a projection point corresponding to the end point on the reference road line.
In some embodiments, the step 1051 may be implemented by performing the following processing for each first lane solid line: and when the projection results corresponding to the endpoints of the first lane solid line respectively indicate that the projection points corresponding to the endpoints exist on the reference road line, determining the first lane solid line as a target lane solid line.
Taking the reference road line 72 as an example, when projection results corresponding to the end points of the first road solid line 711 respectively indicate that projection points corresponding to the end points exist on the reference road line 72, determining the first road solid line 711 as a target road solid line of the reference road line 72; when projection results corresponding to all the endpoints of the first lane solid line 713 respectively indicate that projection points corresponding to the endpoints exist on the reference lane route 72, determining the first lane solid line 713 as a target lane solid line of the reference lane route 72; when no projection point corresponding to the end point exists on the reference lane line 72 in the projection results corresponding to the end points of the first lane solid line 714, the first lane solid line 714 is not determined as the target lane solid line of the reference lane line 72.
Taking the reference road line 73 as an example, when projection results corresponding to the end points of the first road solid line 711 respectively indicate that projection points corresponding to the end points exist on the reference road line 73, determining the first road solid line 711 as a target road solid line of the reference road line 73; when the projection results corresponding to the end points of the first lane solid line 713 indicate that there is a projection point corresponding to the end point on the reference lane route 73, the first lane solid line 713 is determined as the target lane solid line of the reference lane route 73.
In step 1052, the start point and the solid lines of the target lanes are rendered in combination with the dotted lines, and sub-reference road routes corresponding to the solid lines of the target lanes are selected on the reference road lines.
In some embodiments, the target lane solid lines are in one-to-one correspondence with the sub-reference road lines, and the end points of the sub-reference road lines are the rendering start points of the dotted lines, and the different sub-reference road lines are not intersected.
In some embodiments, the step 1052 may be implemented by performing the following processing for each target lane solid line: selecting a target rendering starting point corresponding to each end point of the target lane solid line from the dotted line rendering starting points; and determining a road line between the two target rendering starting points on the reference road line as a sub-reference road line corresponding to the target lane solid line.
As an example, referring to fig. 7, from among the dotted line rendering start points, a target rendering start point to which each end point (end point 7211 and end point 7212) of the target lane solid line 721 corresponds, respectively, is selected; the road line on the reference road line 72 between the two target rendering start points is determined as the sub-reference road line corresponding to the target lane solid line.
In step 1053, each sub-reference road line is rendered, so as to obtain a second road solid line corresponding to each sub-reference road line.
In some embodiments, step 1053 described above may be implemented as follows: and respectively expanding the width of each sub-reference road line to obtain an expanded road line corresponding to each sub-reference road line, respectively rendering each expanded road line, and taking the lane solid line corresponding to each obtained expanded road line as a second lane solid line corresponding to the corresponding sub-target road line.
In this way, the target lane solid line which can be projected on the reference road line is selected from the plurality of first lane solid lines, the virtual line rendering start point and the target lane solid line are combined, the sub-reference road lines corresponding to the target lane solid lines are selected on the reference road line, the sub-reference road lines are respectively rendered, and the second lane solid line corresponding to the sub-reference road lines is obtained, so that each target lane solid line in the lane virtual line corresponding to the reference road line can be aligned with the corresponding first lane solid line in the lane virtual line corresponding to the target road line, and the guiding performance of the lane virtual line in the target map road is effectively improved.
In step 106, the broken line formed by the second road solid lines on the reference road line is determined as the lane broken line corresponding to the reference road line.
As an example, referring to fig. 7, taking the reference road route 72 as an example, a broken line constituted by each of the second road solid lines (second road solid line 721, second road solid line 722, second road solid line 723) on the reference road route 72 is determined as a lane broken line corresponding to the reference road route 72.
As an example, referring to fig. 7, taking the reference road route 73 as an example, a broken line constituted by the respective second road solid lines (the second road solid line 731, the second road solid line 732, the second road solid line 733, the second road solid line 734, and the second road solid line 735) on the reference road route 73 is determined as a lane broken line corresponding to the reference road route 73.
In this way, at least one end point of each first lane solid line is projected onto the reference lane route, a virtual line rendering start point of the reference lane route is determined based on the projection result, and based on the virtual line rendering start point, second lane solid lines corresponding to at least two first lane solid lines are rendered on the reference lane line, and a virtual line formed by each second lane solid line on the reference lane line is determined as a lane virtual line corresponding to the reference lane line. In this way, at least one end point of each first lane solid line is projected to the reference lane route, and second lane solid lines corresponding to at least two first lane solid lines are rendered based on projection results, so that alignment of the second lane solid lines and the corresponding first lane solid lines is realized through projection, visual alignment of the second lane solid lines in the lane dashed lines corresponding to the reference lane lines and the first lane solid lines in the lane dashed lines corresponding to the target lane route can be realized, alignment degree of the lane dashed lines is effectively improved, and guiding performance of the lane dashed lines is effectively improved.
In the following, an exemplary application of the embodiments of the present application in an application scenario for actual vehicle navigation will be described.
Along with the improvement of the accuracy of the map acquisition data and the element richness, compared with the traditional map data, more accurate road data can be provided, more road information data can be provided at the same time, and normalized data such as lane lines, flow direction arrows, diversion areas and the like on the road surface can be provided, so that the product can be restored to reality to a greater extent.
For the lane broken line, the whole lane line range data of different lanes are respectively given, and how to generate the lane line with good effect according to the existing data is a problem to be considered. According to the embodiment of the application, the alignment effect of the lane lines on the product form can be achieved, meanwhile, the connection effect of continuous lane lines of different roads can be guaranteed, and the method has the advantages of being low in reduction cost, high in practicality and the like.
In some embodiments, referring to fig. 15, fig. 15 is a schematic diagram of a rendering effect of a lane dashed line provided by the embodiment of the present application, where the rendering method of the lane dashed line provided by the embodiment of the present application may be applied to alignment generation of lane line elements of a lane-level map, and compared with a conventional method, on the basis of a real-life lane line reduction, the generated elements (lane solid line 151 and lane solid line 152) have a relatively regular effect, and may also relatively well solve the problem of connection of adjacent road lane lines, so that a relatively large lifting effect may be achieved in terms of product experience.
In some embodiments, referring to fig. 5, for road elements, the map data will give lane line data on the road surface, each lane line data consisting of a series of geometrical coordinate points arranged in sequence, the sequence being consistent with the direction of travel of the road to which it belongs. And selecting a reference lane boundary. And connecting a starting point and a finishing point of any lane line of the road surface to obtain a line segment, solving the vertical distance from the remaining shape point on the lane line to the line segment, accumulating all the vertical distances, calculating to obtain the average vertical distance of the lane line, and selecting the lane line with the minimum average vertical distance as a reference lane boundary.
In some embodiments, referring to fig. 16, fig. 16 is a schematic diagram four of a method for rendering a lane dashed line according to an embodiment of the present application, and a reference lane dashed line is generated. The lane broken lines are uniformly distributed, a section of lane broken lines are generated at fixed intervals according to a fixed length aiming at the whole reference lane boundary line, the whole lane boundary line is obtained, the reference lane boundary line is used as a reference for generating the road surface lane boundary line, and the reference lane boundary line is not an actual lane boundary line.
In some embodiments, referring to fig. 7, the road lane dashed line is mapped. The map data can give out the linear point range data of each lane on the road surface, and the projection is respectively carried out on each reference dotted line of the reference lane line to each actual lane line, so that the position of each actual lane dotted line is determined. And each reference dotted line has a first point and a second point Pi (i=1, … n), respectively making perpendicular projection points Pi 'to corresponding lane lines, if no strict perpendicular projection points exist, selecting the point on the lane line closest to the geometric distance of the perpendicular projection points as the corresponding projection point (see, for example, P1' shown in fig. 7), and taking all projection points and a range curve formed by the points between the projection points as dotted line areas on the lane lines to finally obtain all aligned lane dotted lines on the road surface.
In some embodiments, referring to fig. 17, fig. 17 is a schematic diagram five of a rendering method of a lane dashed line provided in the embodiment of the present application, for each shape point (for example, point 1, point 2, point 3 and point 4 shown in fig. 17) aligned with the lane dashed line, a left-right model point of the point is obtained by expanding the length w/2 (w is the dashed line width) of the shape point and the front-rear point angular bisector direction, if the shape point boundary point is located at the starting point or the ending point of the whole lane line, the shape point boundary point is located on two road boundaries (for example, on the road boundary line of the road 1 and the road 2 shown in fig. 17), and the width w/2 is widened left-right along the boundary line direction, so as to finally obtain each piece of dashed line model data and ensure that the continuous dashed line joining effect of the front and rear roads is normal.
Therefore, the rendering method of the lane dotted line provided by the embodiment of the application uses a simple and efficient technical means to generate lane lines aligned by different lanes and the connection effect of the lane lines of different roads through offline processing on the basis of the original map data, the product effect truly restores the scene in reality in visual experience, the scheme is efficient, the deployment and implementation can be fast, the user requirements can be timely met, and good user experience is brought to the product.
It will be appreciated that in the embodiments of the present application, related data relating to a target road line, a reference road line, etc. when the embodiments of the present application are applied to a specific product or technology, user permission or consent is required, and the collection, use and processing of related data is required to comply with related laws and regulations and standards of related countries and regions.
In this way, at least one end point of each first lane solid line is projected onto the reference lane route, a virtual line rendering start point of the reference lane route is determined based on the projection result, and based on the virtual line rendering start point, second lane solid lines corresponding to at least two first lane solid lines are rendered on the reference lane line, and a virtual line formed by each second lane solid line on the reference lane line is determined as a lane virtual line corresponding to the reference lane line. In this way, at least one end point of each first lane solid line is projected to the reference lane route, and second lane solid lines corresponding to at least two first lane solid lines are rendered based on projection results, so that alignment of the second lane solid lines and the corresponding first lane solid lines is realized through projection, visual alignment of the second lane solid lines in the lane dashed lines corresponding to the reference lane lines and the first lane solid lines in the lane dashed lines corresponding to the target lane route can be realized, alignment degree of the lane dashed lines is effectively improved, and guiding performance of the lane dashed lines is effectively improved.
Continuing with the description below of an exemplary structure of the lane-dashed rendering device 455 implemented as a software module provided in embodiments of the present application, in some embodiments, as shown in fig. 2, the software module stored in the lane-dashed rendering device 455 of the memory 450 may include: the acquisition module 4551 is configured to acquire a target road route in a target map road and a reference road route parallel to the target road route; the target rendering module 4552 is configured to render a lane dashed line corresponding to the target lane route, where the lane dashed line includes a plurality of first lane solid lines; a projection module 4553, configured to project at least one end point of each first lane solid line onto the reference lane route, and determine a dashed line rendering start point of the reference lane route based on a projection result; a reference rendering module 4554, configured to render, on the reference road line, a second road solid line corresponding to at least two first road solid lines respectively based on the dashed line rendering start point; and determining a dotted line formed by the second road solid lines on the reference road line as a lane dotted line corresponding to the reference road line.
In some embodiments, the obtaining module is further configured to obtain a plurality of road lines parallel to each other in the target map road, and determine an radian parameter of each road line by combining a start point and an end point of each road line; wherein, the magnitude of the radian parameter is positively correlated with the corresponding bending degree of the road line; determining the road line with the smallest radian parameter as the target road line in the target map road; and determining a road line except the target road line as the reference road line among the plurality of mutually parallel road lines.
In some embodiments, the road line includes a plurality of road points, and the acquiring module is further configured to perform the following processing for each of the road lines: linearly connecting the starting point of the road line with the ending point of the road line to obtain a reference line corresponding to the road line; and obtaining the shortest distance between each road point on the road line and the datum line, and summing the shortest distances to obtain the radian parameter of the road line.
In some embodiments, the target road line includes a plurality of target road points distributed at equal intervals, and the target rendering module is configured to select a plurality of disjoint sub-target road lines on the target road line based on a plurality of the target road points, where the sub-target road line includes at least one of the target road points; rendering a first lane solid line corresponding to each sub-target lane route based on each sub-target lane route; and determining a dotted line formed by the first lane solid lines on the target road line as a lane dotted line corresponding to the target road line.
In some embodiments, when the number of target road points on the target road line is two, the target rendering module is configured to determine a target road point on the target road line closest to a start point of the target road line as a first target road point, and determine a target road point on the target road line closest to an end point of the target road line as a second target road point; determining a road line on the target road line between the starting point of the target road line and the first target road point as a sub-target road line corresponding to the first target road point; and determining a road line on the target road line between the end point of the target road line and the second target road point as a sub-target road line corresponding to the second target road point.
In some embodiments, when the number of target road points on the target road line is greater than two, the target rendering module is configured to determine a road line on the target road line between a start point of the target road line and a 1 st target road point as a sub-target road line corresponding to the 1 st target road point, where the 1 st target road point is a target road point closest to the start point of the target road line on the target road line; the following process is performed by traversal i: when the i-th target road point is not the closest target road point to the end point of the target road line and the i is even, determining a road line on the target road line between the i-th target road point and the i+1th target road point as a sub-target road line corresponding to the i-th target road point; and when the i-th target road point is the target road point closest to the destination of the target road line and the i is even, determining the road line on the target road line between the i-th target road point and the destination of the target road line as a sub-target road line corresponding to the i-th target road point. N is used for indicating the number of target road points on the target road line, N is a positive integer greater than 2, and the N target road point is the target road point closest to the end point of the target road line.
In some embodiments, the target rendering module is configured to perform width expansion on each sub-target road line to obtain an expanded road line corresponding to each sub-target road line; rendering each extended road route respectively, and taking the lane solid line corresponding to each obtained extended road route as a first lane solid line corresponding to the corresponding sub-target road route.
In some embodiments, the projection module is configured to perform the following processing for each of the first lane solid lines: projecting each end point of the first lane solid line to the reference lane route respectively to obtain a projection result corresponding to each end point of the first lane solid line; the projection result is used for indicating whether projection points corresponding to the endpoints exist on the reference road line or not; the projection module is further configured to perform the following processing for each of the end points of each of the first lane solid lines: and when the projection result of the end point indicates that a projection point corresponding to the end point exists on the reference road line, determining a dotted line rendering starting point corresponding to the projection point on the reference road line based on the projection point.
In some embodiments, the reference road line includes a plurality of road points, and the projection module is configured to compare each of the road points on the reference road line with the projection point to obtain a comparison result; when the comparison result indicates that the road point is overlapped with the projection point, determining the projection point as a dotted line rendering starting point of the reference road route; and when the comparison result indicates that the road point is not overlapped with the projection point, determining the road point closest to the projection point as a dotted line rendering starting point of the reference road line.
In some embodiments, the above reference rendering module is further configured to select, from the plurality of first lane solid lines, a target lane solid line that can be projected on the reference lane line, where the number of target lane solid lines is less than or equal to the number of first lane solid lines; selecting sub-reference road routes corresponding to the target lane solid lines respectively on the reference road line by combining the dotted line rendering starting point and the target lane solid lines, wherein the end points of the sub-reference road routes are the dotted line rendering starting point, and the different sub-reference road routes are not intersected; rendering each sub-reference road line respectively to obtain a second road solid line corresponding to each sub-reference road line.
In some embodiments, the above-mentioned reference rendering module is further configured to perform the following processing for each of the first lane solid lines: and when the projection results corresponding to the endpoints of the first lane solid line respectively indicate that the projection points corresponding to the endpoints exist on the reference road line, determining the first lane solid line as the target lane solid line.
In some embodiments, the above-mentioned reference rendering module is further configured to perform the following processing for each of the target lane solid lines: selecting a target rendering starting point corresponding to each end point of the target lane solid line from the dotted line rendering starting points; and determining a road line between the two target rendering starting points on the reference road line as a sub-reference road line corresponding to the target lane solid line.
Embodiments of the present application provide a computer program product comprising a computer program or computer-executable instructions stored in a computer-readable storage medium. The processor of the electronic device reads the computer-executable instructions from the computer-readable storage medium, and executes the computer-executable instructions, so that the electronic device executes the method for rendering the lane dashed line according to the embodiment of the present application.
The present embodiments provide a computer-readable storage medium storing computer-executable instructions, which when executed by a processor, cause the processor to perform the method for rendering a lane-broken line provided by the embodiments of the present application, for example, the method for rendering a lane-broken line as shown in fig. 3.
In some embodiments, the computer readable storage medium may be FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; but may be a variety of electronic devices including one or any combination of the above-described memories.
In some embodiments, computer-executable instructions may be written in any form of programming language, including compiled or interpreted languages, or declarative or procedural languages, in the form of programs, software modules, scripts, or code, and they may be deployed in any form, including as stand-alone programs or as modules, components, subroutines, or other units suitable for use in a computing environment.
As an example, computer-executable instructions may, but need not, correspond to files in a file system, may be stored as part of a file that holds other programs or data, such as in one or more scripts in a hypertext markup language (HTML, hyper Text Markup Language) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files that store one or more modules, sub-programs, or portions of code).
As an example, computer-executable instructions may be deployed to be executed on one electronic device or on multiple electronic devices located at one site or, alternatively, on multiple electronic devices distributed across multiple sites and interconnected by a communication network.
In summary, the embodiment of the application has the following beneficial effects:
(1) The method comprises the steps of projecting at least one end point of each first road solid line to a reference road route, determining a broken line rendering starting point of the reference road route based on a projection result, rendering second road solid lines corresponding to at least two first road solid lines on the reference road route based on the broken line rendering starting point, and determining a broken line formed by each second road solid line on the reference road route as a lane broken line corresponding to the reference road route. In this way, at least one end point of each first lane solid line is projected to the reference lane route, and second lane solid lines corresponding to at least two first lane solid lines are rendered based on projection results, so that alignment of the second lane solid lines and the corresponding first lane solid lines is realized through projection, visual alignment of the second lane solid lines in the lane dashed lines corresponding to the reference lane lines and the first lane solid lines in the lane dashed lines corresponding to the target lane route can be realized, alignment degree of the lane dashed lines is effectively improved, and guiding performance of the lane dashed lines is effectively improved.
(2) The road line with the smallest radian parameter is the road line with the longest length in the road line, so the road line with the smallest radian parameter can be projected to more road lines, the road line with the smallest radian parameter is determined to be the target road line in the target map road, and the road lines except the target road line in a plurality of mutually parallel road lines are determined to be the reference road line, so that the lane dotted line of the target road line is determined firstly and then the lane dotted line of the reference road line is determined through the lane dotted line of the target road line, so that the lane dotted line of the target road line has more lane dotted lines in the reference road line and can be aligned with the lane dotted line, and the guiding performance of the lane dotted line in the target map road is effectively improved.
(3) The lane dotted line corresponding to the target road line is rendered firstly, so that the subsequent rendering of the lane dotted line corresponding to the reference road line based on the lane dotted line corresponding to the target road line is facilitated, the lane dotted line corresponding to the target road line and the lane dotted line corresponding to the reference road line can be aligned, and the guiding performance of the lane dotted line in the target map road is effectively improved.
(4) The projection results corresponding to the endpoints of the first lane solid line are obtained by respectively projecting the endpoints of the first lane solid line to the reference lane route, and the projection results are used for indicating whether projection points corresponding to the corresponding endpoints exist on the reference lane line or not, so that the subsequent projection results indicating the projection points corresponding to the corresponding endpoints exist on the reference lane line are convenient for accurately determining the dotted line rendering starting point of the reference lane route.
(5) Comparing each road point on the reference road line with the projection point respectively to obtain a comparison result; when the comparison result indicates that the road point is overlapped with the projection point, determining the projection point as a dotted line rendering starting point of the reference road route; when the comparison result indicates that the road point is not overlapped with the projection point, the road point closest to the projection point is determined as a dotted line rendering starting point of the reference road route, so that the end point on the first lane solid line can be approximately aligned with the corresponding projection point, the first lane solid line on the target lane line and the corresponding second lane solid line on the reference lane line can be approximately aligned, visual interference is not generated, and the guiding performance of the lane dotted line in the target map road is effectively improved.
(6) Selecting a target lane solid line which can be projected on a reference road line from a plurality of first lane solid lines, combining a virtual line rendering start point and the target lane solid line, selecting sub-reference road lines corresponding to the target lane solid lines on the reference road line, and respectively rendering the sub-reference road lines to obtain second lane solid lines corresponding to the sub-reference road lines, so that each target lane solid line in the lane virtual lines corresponding to the reference road line can be aligned with the corresponding first lane solid line in the lane virtual lines corresponding to the target road line, and the guiding performance of the lane virtual lines in the target map road is effectively improved.
(7) The rendering method of the lane dotted line provided by the embodiment of the application uses a simple and efficient technical means to generate lane lines aligned by different lanes and the connection effect of the lane lines of different roads through offline processing on the basis of the original map data, the product effect truly restores the scene in reality in visual experience, the scheme is efficient, the deployment and implementation can be fast, the user requirements can be timely met, and good user experience is brought to the product.
The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application. Any modifications, equivalent substitutions, improvements, etc. that are within the spirit and scope of the present application are intended to be included within the scope of the present application.
Claims (13)
1. A method for rendering a lane phantom line, the method comprising:
obtaining a plurality of mutually parallel road lines in a target map road, wherein the road lines comprise a plurality of road points;
for each road line, connecting a starting point of the road line and an end point of the road line in a straight line to obtain a datum line corresponding to the road line, obtaining shortest distances between each road point on the road line and the datum line, and summing the shortest distances to obtain radian parameters of the road line;
Determining the road line with the smallest radian parameter as a target road line, and determining the road lines except the target road line as a reference road line;
rendering a lane dotted line corresponding to the target lane route, wherein the lane dotted line comprises a plurality of first lane solid lines;
projecting at least one end point of each first lane solid line to the reference lane route, and determining a dotted line rendering starting point of the reference lane route based on a projection result;
rendering a second lane solid line corresponding to at least two first lane solid lines on the reference lane line based on the dotted line rendering start point;
and determining a dotted line formed by the second road solid lines on the reference road line as a lane dotted line corresponding to the reference road line.
2. The method of claim 1, wherein the target road line includes a plurality of equally spaced target road points, the target road points being different from a start point and an end point of the target road line, the rendering lane dashed lines corresponding to the target road line comprising:
selecting a plurality of disjoint sub-target road routes on the target road line based on a plurality of target road points, wherein the sub-target road line comprises at least one target road point;
Rendering a first lane solid line corresponding to each sub-target lane route based on each sub-target lane route;
and determining a dotted line formed by the first lane solid lines on the target road line as a lane dotted line corresponding to the target road line.
3. The method of claim 2, wherein when the number of target road points on the target road line is two, the selecting a plurality of sub-target road lines on the target road line that do not intersect based on the plurality of target road points comprises:
determining a target road point closest to a starting point of the target road line on the target road line as a first target road point, and determining a target road point closest to an ending point of the target road line on the target road line as a second target road point;
determining a road line on the target road line between the starting point of the target road line and the first target road point as a sub-target road line corresponding to the first target road point;
and determining a road line on the target road line between the end point of the target road line and the second target road point as a sub-target road line corresponding to the second target road point.
4. The method of claim 2, wherein when the number of target road points on the target road line is greater than two, the selecting a plurality of sub-target road lines on the target road line that do not intersect based on the plurality of target road points comprises:
determining a road line on the target road line between the starting point of the target road line and a 1 st target road point as a sub-target road line corresponding to the 1 st target road point, wherein the 1 st target road point is a target road point closest to the starting point of the target road line on the target road line;
the following process is performed by traversal i:
when the i-th target road point is not the closest target road point to the end point of the target road line and the i is even, determining a road line on the target road line between the i-th target road point and the i+1th target road point as a sub-target road line corresponding to the i-th target road point;
when the i-th target road point is the closest target road point to the destination of the target road line and the i is even, determining a road line on the target road line between the i-th target road point and the destination of the target road line as a sub-target road line corresponding to the i-th target road point;
Wherein,n is used for indicating the number of target road points on the target road line, N is a positive integer greater than 2, and the N target road point is the target road point closest to the end point of the target road line.
5. The method of claim 2, wherein rendering a first lane solid line corresponding to each of the sub-target lane routes based on each of the sub-target lane routes comprises:
respectively expanding the width of each sub-target road line to obtain an expanded road line corresponding to each sub-target road line;
rendering each extended road route respectively, and taking the lane solid line corresponding to each obtained extended road route as a first lane solid line corresponding to the corresponding sub-target road route.
6. The method of claim 1, wherein projecting at least one end point of each of the first lane solid lines toward the reference lane route comprises:
the following processing is performed for each of the first lane solid lines:
projecting each end point of the first lane solid line to the reference lane route respectively to obtain a projection result corresponding to each end point of the first lane solid line;
The projection result is used for indicating whether projection points corresponding to the endpoints exist on the reference road line or not;
the determining a dotted line rendering start point of the reference road route based on the projection result includes:
the following processing is performed for each of the end points of each of the first lane solid lines:
and when the projection result of the end point indicates that a projection point corresponding to the end point exists on the reference road line, determining a dotted line rendering starting point corresponding to the projection point on the reference road line based on the projection point.
7. The method of claim 6, wherein the reference road line includes a plurality of road points thereon, and wherein the determining the dashed rendering start point on the reference road line corresponding to the projected points based on the projected points includes:
comparing each road point on the reference road line with the projection point respectively to obtain a comparison result;
when the comparison result indicates that the road point is overlapped with the projection point, determining the projection point as a dotted line rendering starting point of the reference road route;
and when the comparison result indicates that the road point is not overlapped with the projection point, determining the road point closest to the projection point as a dotted line rendering starting point of the reference road line.
8. The method according to claim 1, wherein the rendering, based on the dashed rendering start point, the second lane solid line corresponding to at least two of the first lane solid lines on the reference lane line includes:
selecting target lane solid lines which can be projected on the reference road line from the plurality of first lane solid lines, wherein the number of the target lane solid lines is smaller than or equal to that of the first lane solid lines;
selecting sub-reference road routes corresponding to the target lane solid lines respectively on the reference road line by combining the dotted line rendering starting point and the target lane solid lines, wherein the end points of the sub-reference road routes are the dotted line rendering starting point, and the different sub-reference road routes are not intersected;
rendering each sub-reference road line respectively to obtain a second road solid line corresponding to each sub-reference road line.
9. The method of claim 8, wherein selecting a target lane solid line from the plurality of first lane solid lines that can be projected on the reference lane line comprises:
the following processing is performed for each of the first lane solid lines:
And when the projection results corresponding to the endpoints of the first lane solid line respectively indicate that the projection points corresponding to the endpoints exist on the reference road line, determining the first lane solid line as the target lane solid line.
10. The method of claim 8, wherein the combining the dashed rendering start point and the target lane solid line, on the reference road line, selecting sub-reference road routes respectively corresponding to the target lane solid lines, comprises:
the following processing is performed for each of the target lane solid lines:
selecting a target rendering starting point corresponding to each end point of the target lane solid line from the dotted line rendering starting points;
and determining a road line between the two target rendering starting points on the reference road line as a sub-reference road line corresponding to the target lane solid line.
11. A lane-line rendering device, characterized in that the device comprises:
the acquisition module is used for acquiring a plurality of mutually parallel road lines in the target map road, wherein the road lines comprise a plurality of road points; for each road line, connecting a starting point of the road line and an end point of the road line in a straight line to obtain a datum line corresponding to the road line, obtaining shortest distances between each road point on the road line and the datum line, and summing the shortest distances to obtain radian parameters of the road line; determining the road line with the smallest radian parameter as a target road line, and determining the road lines except the target road line as a reference road line;
The target rendering module is used for rendering lane dotted lines corresponding to the target lane route, and the lane dotted lines comprise a plurality of first lane solid lines;
the projection module is used for projecting at least one end point of each first lane solid line to the reference lane route and determining a dotted line rendering starting point of the reference lane route based on a projection result;
the reference rendering module is used for rendering a second lane solid line corresponding to at least two first lane solid lines on the reference road line based on the dotted line rendering starting point; and determining a dotted line formed by the second road solid lines on the reference road line as a lane dotted line corresponding to the reference road line.
12. An electronic device, the electronic device comprising:
a memory for storing computer executable instructions or computer programs;
a processor for implementing the lane-dotted rendering method according to any one of claims 1 to 10 when executing the computer-executable instructions or computer programs stored in the memory.
13. A computer-readable storage medium storing computer-executable instructions which, when executed by a processor, implement the method of rendering a lane-dotted line according to any one of claims 1 to 10.
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