WO2022100212A1 - Three-dimensional highly precise map tile-based generation method, apparatus, and electronic device - Google Patents

Abstract

Provided in embodiments of the present invention are a three-dimensional highly precise map tile-based map generation method, an apparatus, and an electronic device, where a target geographic location and a target scale level are determined; a row and column number for a three-dimensional vector highly precise map tile to which the target geographic location belongs at the target scale level is determined; row and column numbers of three-dimensional vector highly precise map tiles to be downloaded are determined, a comparison is performed with a pre-stored initialized row and column number at the target scale level, and a target row and column number is selected; three-dimensional vector highly precise map tile data corresponding to the target row and column number is obtained, visualization rendering is performed, and thereby a three-dimensional vector highly precise map is generated. It is thus apparent that high performance visualization rendering of a three-dimensional vector highly precise map can be achieved.

Description

Map generation method, device and electronic device based on 3D high-precision map slice

This application claims the priority of the Chinese patent application filed on November 11, 2020 with the application number 202011252217.3 and the application name "Map generation method, device and electronic device based on 3D high-precision map slices", all of which are The contents are incorporated herein by reference.

technical field

The present invention relates to the technical field of high-precision maps, in particular to a map generation method, device and electronic device based on three-dimensional high-precision map slices.

Background technique

The large-scale visual rendering of traditional maps is based on raster map data. This method is simple and easy to use, but there are disadvantages such as inability to update the map in real time and large data slices, which can no longer meet current business needs.

As an open source map development platform, mapbox proposes a vector tile technology, which can update data in real time. The generated vector tile data has the advantages of low redundancy and small size, which solves the drawbacks of traditional map rendering. It has been widely used now.

Although vector tiles are widely used in the industry, the existing visualization rendering of vector tile maps is based on two-dimensional vector map data, which cannot meet the large-scale visualization rendering requirements of three-dimensional vector high-precision maps.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present invention is to provide a map generation method, device and electronic device based on 3D high-precision map slices, so as to realize high-performance visualization rendering of 3D vector high-precision maps.

The specific technical solutions are as follows:

To achieve the above purpose, an embodiment of the present invention provides a map generation method based on a three-dimensional high-precision map slice, the method comprising:

Determine the coordinates of the target geographic location, and determine the target scale level of the three-dimensional vector high-precision map to be generated;

Based on the coordinates of the target geographic location, determine the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs at the target scale level;

Based on the row and column numbers of the 3D vector HD map slice to which the target geographic location belongs, determine the row and column numbers of each adjacent 3D vector HD map slice within a preset range centered on the 3D vector HD map slice to which the target geographic location belongs , and mark the row and column numbers of the three-dimensional vector high-precision map slices to which the target geographic location belongs and the row and column numbers of the adjacent three-dimensional vector high-precision map slices as the row and column numbers to be loaded;

Compare the row and column numbers to be loaded with the pre-stored initialization row and column numbers under the target scale level, and filter out the target row and column numbers, where the initialization row and column numbers include three-dimensional vectors containing geographic element location data under each scale level The row and column number of the HD map slice; the target row and column number is the intersection of the row and column number to be loaded and the initialization row and column number at the target scale level;

Acquire the slice data of the three-dimensional vector high-precision map corresponding to each of the target row and column numbers, and perform visual rendering of the three-dimensional data to generate a three-dimensional vector high-precision map.

Optionally, the determining the target scale level of the three-dimensional vector high-precision map to be generated includes:

Obtain the camera height of the three-dimensional vector high-precision map to be generated;

Based on the preset correspondence between the camera height range and the scale level, the scale level corresponding to the camera height is determined as the target scale level.

Optionally, determining the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs under the target scale level based on the coordinates of the target geographic location, including:

According to the pre-established correspondence between the two-dimensional geographic coordinate range covered by the three-dimensional vector high-precision map slice at different scale levels and the row and column numbers of the three-dimensional vector high-precision map slice, determine the corresponding two-dimensional geographic coordinate range to which the target geographic location belongs. The row and column numbers at the target scale level.

Optionally, determining the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs under the target scale level based on the coordinates of the target geographic location, including:

According to the longitude contained in the coordinates of the target geographic location and the target scale level, the column number of the 3D vector HD map slice to which the target geographic location belongs is calculated according to the following formula:

X=[(lng+180)/360*2^level]

Wherein, X represents the column number of the 3D vector HD map slice to which the target geographic location belongs under the target scale level, lng represents the longitude included in the coordinates of the target geographic location, and level represents the target scale level;

According to the latitude contained in the coordinates of the target geographic location and the target scale level, the row number of the 3D vector HD map slice to which the target geographic location belongs is calculated according to the following formula:

Y=[(1-ln(tan(lat*π/180)+1/cos(lat*π/180))/π)/2*2^level]

Wherein, Y represents the row number of the 3D vector high-precision map slice to which the target geographic location belongs at the target scale level, lat represents the latitude contained in the target geographic location coordinates, and level represents the target scale level.

Optionally, comparing the row and column numbers to be loaded with the pre-stored initialization row and column numbers at the target scale level, and filtering out the target row and column numbers, including:

Traverse the row and column numbers to be loaded, and determine whether each row and column number to be loaded belongs to the initialization row and column number;

If yes, determine the row and column number to be loaded as the target row and column number.

Optionally, obtaining the three-dimensional vector high-precision map slice data corresponding to each of the target row and column numbers includes:

Based on the target row and column numbers, the 3D vector high-precision map tile data corresponding to the target row and column numbers is searched from the pre-cached index file; the index file contains 3D vector high-precision maps with different row and column numbers at each scale level Slice the 3D vector HD map tile data.

Optionally, the index file is constructed as follows:

Divide the 3D vector HD map data to obtain 3D vector HD map slice data corresponding to 3D vector HD map slices with different row and column numbers at different scale levels;

Establish the index relationship between each row and column number and the 3D vector HD map slice data at different scale levels;

The three-dimensional vector high-precision map tile data and the index relationship are saved in the index file.

Optionally, the three-dimensional vector high-precision map slice data is data in geojson format.

In order to achieve the above purpose, an embodiment of the present invention also provides a device for generating a high-precision map based on a three-dimensional vector high-precision map slice, and the device includes:

The first determination module is used to determine the coordinates of the target geographic location, and to determine the target scale level of the three-dimensional vector high-precision map to be generated;

A second determining module, configured to determine, based on the coordinates of the target geographic location, the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs under the target scale level;

The second determination module is configured to determine, based on the row and column numbers of the 3D vector HD map slice to which the target geographic location belongs, each adjacent 3D vector within a preset range centered on the 3D vector HD map slice to which the target geographic location belongs The row and column numbers of the high-precision map slices, and the row and column numbers of the three-dimensional vector high-precision map slices to which the target geographic location belongs and the row and column numbers of the adjacent three-dimensional vector high-precision map slices are marked as the row and column numbers to be loaded;

The comparison module is used to compare the row and column numbers to be loaded with the pre-stored initialization row and column numbers under the target scale level, and filter out the target row and column numbers, and the initialization row and column numbers include the geographic inclusions under each scale level. The row and column number of the three-dimensional vector high-precision map slice of the element location data; the target row and column number is the intersection of the row and column number to be loaded and the initialization row and column number at the target scale level;

The generating module is used to obtain the slice data of the three-dimensional vector high-precision map corresponding to each of the target row and column numbers, and perform visual rendering of the three-dimensional data to generate the three-dimensional vector high-precision map.

In order to achieve the above object, an embodiment of the present invention also provides an electronic device, including a processor, a communication interface, a memory, and a communication bus; wherein, the processor, the communication interface, and the memory communicate with each other through the communication bus;

memory for storing computer programs;

The processor is configured to implement any of the above method steps when executing the program stored in the memory.

To achieve the above object, an embodiment of the present invention further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any one of the above method steps is implemented.

To achieve the above object, an embodiment of the present invention further provides a chip for running instructions, the chip includes a memory and a processor, where code and data are stored in the memory, the memory is coupled with the processor, and the processor The processor runs the code in the memory so that the chip implements any of the above method steps.

To achieve the above object, an embodiment of the present invention further provides a program product including instructions, which, when the program product runs on a computer, enables the computer to implement any of the above method steps.

To achieve the above object, an embodiment of the present invention further provides a computer program, which is used to implement any of the above method steps when the computer program is executed by a processor.

Beneficial effects of the embodiment of the present invention:

By applying the map generation method, device, and electronic device based on three-dimensional high-precision map slices provided by the embodiments of the present invention, the three-dimensional vector high-precision map data can be segmented in advance, and the segmented data can be saved according to the row and column numbers. After the location and the target scale level are obtained, the row and column numbers of the 3D vector HD map slices to be loaded under the target scale level are obtained, and the row and column numbers of the 3D vector HD map slices containing the location data of geographic elements are filtered out as the target row and column numbers. Obtain the 3D vector high-precision map slice data corresponding to the target row and column numbers, and perform visual rendering to generate a 3D vector high-precision map. It can be seen that high-performance visual rendering of 3D vector high-precision maps can be achieved.

Of course, it is not necessary for any product or method of the present invention to achieve all of the advantages described above at the same time.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other embodiments can also be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic flowchart of a map generation method based on a 3D high-precision map slice provided by an embodiment of the present invention;

2(a) is a first schematic diagram of a three-dimensional vector high-precision map slice provided by an embodiment of the present invention;

2(b) is a second schematic diagram of a three-dimensional vector high-precision map slice provided by an embodiment of the present invention;

2(c) is a third schematic diagram of a three-dimensional vector high-precision map slice provided by an embodiment of the present invention;

3 is a schematic diagram of a three-dimensional vector high-precision map provided by an embodiment of the present invention;

4 is a schematic structural diagram of a map generation device based on a three-dimensional high-precision map slice provided by an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In order to solve the technical problem that the existing vector tile map visualization rendering cannot be applied to generate a three-dimensional vector high-precision map, an embodiment of the present invention provides a map generation method, device and electronic device based on a three-dimensional high-precision map slice, see FIG. 1 . , the method includes the following steps:

S101: Determine the coordinates of the target geographic location, and determine the target scale level of the three-dimensional vector high-precision map to be generated.

The method for generating maps based on 3D high-precision map slices provided by the embodiments of the present invention can be applied to clients that provide map services in terminals, such as mobile clients and tablet clients that provide map services, and can also be applied to web clients, etc. .

In the embodiment of the present invention, the generated three-dimensional vector high-precision map includes a map of the target geographic location and its surrounding areas. The target geographic location may be a geographic location manually selected by the user, or may be obtained by the client locating the current location of the device, which is not limited in this embodiment of the present invention.

The coordinates of the target geographic location may be the latitude and longitude coordinates of the target geographic location. Specifically, the client may call the positioning service of the positioning software to obtain the coordinates of the target geographic location.

In addition, the client needs to determine the target scale level of the 3D vector HD map to be generated.

As an example, the client may determine the target scale level of the three-dimensional vector high-precision map to be generated according to the operation instruction input by the user. For example, if the client is a web client, the user can adjust the scale level by sliding the mouse wheel; if the client is a mobile client, the user can adjust the scale level by zooming the screen with fingers. The above-mentioned manners are only used as examples, and are not intended to limit the present invention.

In the embodiment of the present invention, the corresponding relationship between the scale level and the camera height range may be established in advance. The camera height is a professional term in the field, which can indicate the height of the angle of view. The higher the camera height, the larger the geographic area covered by the map.

Specifically, first, the maximum camera height is calculated according to the total geographic coverage of the three-dimensional vector high-precision map and the preset camera opening angle.

Taking the 3D vector high-precision map covering the whole world as an example, to determine the earth's equatorial radius EARTH_RADIUS, the earth's equatorial perimeter EARTH_PERIMETER and the preset camera opening angle fov, the maximum camera height can be calculated according to the following formula:

MAX_CAMERA_HEIGHT=(EARTH_PERIMETER/2)/tan(Math.PI*fov/180/2)

Among them, MAX_CAMERA_HEIGHT represents the maximum camera height, and Math.PI represents the pi in mathematics.

Furthermore, the standard camera height corresponding to each scale level can be determined based on the maximum camera height and the dichotomy principle. As an example, let the standard camera height of scale level 0 be the maximum camera height H ₀ , then the standard camera height of scale level 1 is

The standard camera height for scale level level 2 is

And so on. Further, the correspondence between the scale level and the camera height range can be determined. For example, when the camera height is in the interval H ₂ -H ₁ , it can be considered that the scale level corresponding to the camera height is level 2.

The above is only an example, the corresponding relationship between the camera height range and the scale level, and the number of divisions of the scale level can be set according to actual needs.

Then in an embodiment of the present invention, the above-mentioned determination of the target scale level of the three-dimensional vector high-precision map to be generated may include the following refinement steps:

Step a: Obtain the camera height of the three-dimensional vector high-precision map to be generated.

In this step, the client can obtain the z value in the camera space position as the camera height by calling the camera space position position(x, y, z).

Step b: Based on the preset correspondence between the camera height range and the scale level, determine the scale level corresponding to the camera height as the target scale level.

According to the corresponding relationship between the preset camera height range and the scale level, the camera height range in which the camera height obtained in step a is located can be determined, and then the corresponding scale level is determined, which is recorded as the target scale level.

S102: Based on the coordinates of the target geographic location, determine the row and column numbers of the three-dimensional vector high-precision map slices to which the target geographic location belongs at the target scale level.

In this embodiment of the present invention, the three-dimensional vector high-precision map data may be segmented in advance to obtain the slice data of the three-dimensional vector high-precision map slices at different scale levels, and each scale level corresponds to the slice data of a group of three-dimensional vector high-precision map slices , the slice data of each 3D vector HD map slice can be pre-stored in the client or server.

The slice data of the three-dimensional vector high-precision map tile includes two-dimensional coordinate data and elevation data of the geographic elements contained in the three-dimensional vector high-precision map tile. Because it is an HD map, the geographic features in the 3D vector HD map tiles can also contain only road networks.

In the embodiment of the present invention, each piece of 3D vector high-precision map slice data at each scale level can be marked with the row and column numbers of the 3D vector high-precision map slice corresponding to the slice data in the total 3D vector high-precision map.

For ease of understanding, refer to Fig. 2(a)-Fig. 2(c), Fig. 2(a) is a first schematic diagram of a three-dimensional vector high-precision map slice provided by an embodiment of the present invention; Fig. 2(b) is an implementation of the present invention The second schematic diagram of the three-dimensional vector high-precision map slice provided by the example; Figure 2 (c) is the third schematic diagram of the three-dimensional vector high-precision map slice provided by the embodiment of the present invention, set Figure 2 (a)-Figure 2 (c) ) in the bold rectangle indicates the total coverage of the 3D vector high-precision map before data segmentation, as shown in Figure 2(a)-2(c). The map data is divided into 4 pieces of 3D vector high-precision map slice data. The first piece of 3D vector high-precision map slice data corresponds to the 3D vector high-precision map slice a1, because a1 is located in the total 3D vector high-precision map. The row number is 1 and the column number is 1, so the row and column numbers (1, 1) under the first scale level can be used to mark the slice data of the 3D vector HD map slice corresponding to a1. Correspondingly, the first scale level is used to mark the slice data. The row and column numbers (1, 2) of a2 are used to mark the slice data of the 3D vector HD map slice corresponding to a2, and the row and column numbers (2, 1) at the first scale level are used to mark the slice data of the 3D vector HD map slice corresponding to a3. Data, use the row and column numbers (2, 2) at the first scale level to mark the slice data of the 3D vector HD map slice corresponding to a4.

Correspondingly, as shown in Fig. 2(b)-Fig. 2(c), the row and column numbers (2, 1) under the second scale level can be used to mark the slice data of the 3D vector HD map slice corresponding to b4. The row and column numbers (3,1) at the third scale level are used to mark the slice data of the 3D vector HD map slice corresponding to c9.

In addition, for the convenience of description, the 3D vector HD map slices can also be marked with row and column numbers. For example, in the embodiment shown in FIG. 2(a), at the first scale level, the 3D vector with row and column numbers (2, 2) The vector HD map slice is the slice a4.

The above-mentioned Figures 2(a)-2(c) only take a two-dimensional plane map as an example for illustration. In fact, each map slice is a three-dimensional, three-dimensional map slice. The above is only an exemplary description and is only for the convenience of understanding. , does not limit the technical solution of the present invention. In practical applications, there are many 3D vector high-precision map slices divided at each scale level, and the specific number of slices can be set according to actual needs.

In the embodiment of the present invention, after segmenting the 3D vector high-precision map data to obtain the slice data of the 3D vector high-precision map slice, the two-dimensional geographic coordinates covered by the 3D vector high-precision map slice corresponding to each slice data can be recorded The corresponding relationship between the two-dimensional geographic coordinate range covered by the three-dimensional vector high-precision map slice and the row and column numbers of the three-dimensional vector high-precision map slice at different scale levels is established.

Correspondingly, in an embodiment of the present invention, it can be determined according to the pre-established correspondence between the two-dimensional geographic coordinate range covered by the three-dimensional vector high-precision map slice at different scale levels and the row and column numbers of the three-dimensional vector high-precision map slice. The row and column numbers under the target scale level corresponding to the two-dimensional geographic coordinate range to which the target geographic location belongs.

For example, referring to Fig. 2(b), if the target scale level is the second scale level, and the target geographic location belongs to the two-dimensional geographic coordinate range covered by the three-dimensional vector high-precision map slice b5, then the three-dimensional vector height can be determined according to the scale level. The corresponding relationship between the two-dimensional geographic coordinate range covered by the precision map slice and the row and column numbers of the three-dimensional vector high-precision map slice, and the row and column number corresponding to the two-dimensional geographic coordinate range to which the target geographic location belongs is determined as the row and column number of b5, that is (2,2 ).

In an embodiment of the present invention, for a 3D vector HD map covering the whole world, the row and column numbers of the 3D vector HD map slice to which the target geographic location belongs at the target scale level can also be calculated according to the latitude and longitude.

Specifically, the column number of the 3D vector high-precision map slice to which the target geographic location belongs can be calculated according to the following formula according to the longitude and the target scale level contained in the coordinates of the target geographic location:

X=[(lng+180)/360*2^level]

Among them, X represents the column number of the 3D vector HD map slice to which the target geographic location belongs at the target scale level, lng represents the longitude contained in the target geographic location coordinates, and level represents the target scale level;

According to the latitude and target scale level contained in the target geographic location coordinates, the row number of the 3D vector HD map slice to which the target geographic location belongs is calculated according to the following formula:

Y=[(1-ln(tan(lat*π/180)+1/cos(lat*π/180))/π)/2*2^level]

Among them, Y represents the row number of the 3D vector HD map slice to which the target geographic location belongs at the target scale level, lat represents the latitude contained in the target geographic location coordinates, and level represents the target scale level.

S103: Based on the row and column numbers of the three-dimensional vector high-precision map slices to which the target geographic location belongs, determine the row and column numbers of adjacent three-dimensional vector high-precision map slices within a preset range centered on the three-dimensional vector high-precision map slices to which the target geographic location belongs, and Mark the row and column numbers of the three-dimensional vector high-precision map slice to which the target geographic location belongs and the row and column numbers of each adjacent three-dimensional vector high-precision map slice as the row and column numbers to be loaded.

In this embodiment of the present invention, if only the 3D vector high-precision map slice to which the target geographic location belongs is loaded, the generated 3D vector high-precision map is not enough to cover the display screen of the client. The row and column numbers of other 3D vector HD map tiles adjacent to the preset range centered on the HD map tile.

The preset range can be set according to requirements.

In an embodiment of the present invention, based on the row and column numbers (X, Y) of the 3D vector high-precision map slice to which the target geographic location belongs, cyclically traverse X-m, X-(m-1), ... X-1, X ,X+1,…X+(m-1),X-m, get the line number to be loaded, loop through Y-m, Y-(m-1),…Y-1,Y,Y+1,…Y+(m-1 ), Y-m, get the row number to be loaded, and then combine to get all the row and column numbers to be loaded, where m is the preset row and column number translation.

As an example, m=2 can be set, then based on the row and column numbers of X and Y, loop through the offsets of X, Y plus -2, -1, 0, 1, 2 to obtain all the three-dimensional vector heights that need to be loaded currently. The row and column numbers of the map slice, in this case, the determined row and column numbers to be loaded are 25.

S104: Compare the row and column numbers to be loaded with the initialized row and column numbers under the pre-stored target scale level, filter out the target row and column numbers, and the initialized row and column numbers include the three-dimensional vector high-precision map slices containing geographic element location data under each scale level The row and column number; the target row and column number is the intersection of the row and column number to be loaded and the initialization row and column number at the target scale level.

In this embodiment of the present invention, there may be no geographic elements within the geographic coverage of some 3D vector HD map tiles. For example, the 3D vector HD map tile b7 in FIG. 2(b) does not contain any geographic elements. In order to improve the generation efficiency and avoid wasting resources, the row and column numbers of the three-dimensional vector high-precision map slices containing the location data of geographic elements can be filtered out from the row and column numbers to be loaded.

Specifically, in this embodiment of the present invention, initial row and column numbers at different scale levels may be predetermined and recorded. For a certain scale level, the 3D vector HD map tiles corresponding to the initial row and column numbers at this scale level all contain geographic feature location data, and the 3D vector heights corresponding to other row and column numbers under this scale level are different from the initial row and column numbers. Geomap tiles do not contain geographic feature location data.

Further, it is possible to traverse the row and column numbers to be loaded under the determined target scale level, and determine whether each row and column number to be loaded belongs to the initialization row and column number under the target scale level; if so, determine the row and column number to be loaded as the target row and column number.

As an example, if the target scale level is the third scale level, the row and column numbers to be loaded are (1,2), (1,3), (1,4), (2,2), (2,3), ( 2,4), (3,2), (3,3) and (3,4), if the pre-stored initial row and column numbers at this scale level include: (1,1), (1,3), (1 ,4), (2,1), (2,2), (2,3), (3,1), (3,2), (3,3), (3,4), (4,1 ), (4,2), (4,3) and (4,4), then compare the two, and take the intersection to get the target row and column numbers as (1,3), (1,4), (2, 2), (2,3), (3,2), (3,3) and (3,4).

The target row and column number is the row and column number of the 3D vector HD map slice that needs to be loaded on the current screen at the target scale level. When generating a 3D vector HD map, the client only needs to request the 3D vector HD map slice of the target row and column number. corresponding slice data.

S105: Acquire three-dimensional vector high-precision map slice data corresponding to each target row and column number, and perform visual rendering of the three-dimensional data to generate a three-dimensional vector high-precision map.

In this embodiment of the present invention, as described above, the 3D vector HD map slice data is marked with row and column numbers. Therefore, after obtaining the target row and column numbers, the client can request the target row and column numbers from the server that stores the 3D vector HD map slice data. Corresponding 3D vector HD map tile data.

Among them, the 3D vector high-precision map slice data can be stored in the geojson data format, and the client can obtain the 3D vector high-precision map slice data corresponding to the target row and column numbers in the geojson data format, parse it, and use a 3D engine, such as THREEJS, based on parsing The results are rendered visually to generate a 3D vector high-precision map.

By applying the map generation method based on the three-dimensional high-precision map slice provided by the embodiment of the present invention, the three-dimensional vector high-precision map data can be segmented in advance and the segmented data can be saved according to the row and column numbers. Then, obtain the row and column numbers of the 3D vector HD map slices to be loaded at the target scale level, and filter out the row and column numbers of the 3D vector HD map slices containing the location data of geographic elements as the target row and column numbers. Obtain the 3D vector high-precision map slice data corresponding to the target row and column numbers, and perform visual rendering to generate a 3D vector high-precision map. It can be seen that high-performance visual rendering of 3D vector high-precision maps can be achieved.

In an embodiment of the present invention, the client can search for the 3D vector high-precision map tile data corresponding to the target row and column number from the index file pre-cached by the browser based on the target row and column number; 3D vector HD map tile data of 3D vector HD map tiles with different row and column numbers.

In an embodiment of the present invention, the index file can be pre-built through the following steps:

Step 21: Divide the three-dimensional vector high-precision map data to obtain three-dimensional vector high-precision map slice data corresponding to the three-dimensional vector high-precision map slices of different row and column numbers one-to-one at different scale levels.

As described above, in this embodiment of the present invention, the three-dimensional vector high-precision map data can be segmented in advance to obtain slice data of three-dimensional vector high-precision map slices at different scale levels, and each scale level corresponds to a set of three-dimensional vector high-precision map slices. The tile data of the map tile, and each row and column number under each scale level corresponds to a 3D vector HD map tile data under the scale level.

Step 22: Establish an index relationship between each row and column number and the 3D vector high-precision map slice data under different scale levels.

As described above, in this embodiment of the present invention, for each piece of 3D vector HD map slice data at each scale level, the ranks of the 3D vector HD map slices corresponding to the slice data in the total 3D vector HD map can be used. number to mark, and then the index relationship between each row and column number and the 3D vector HD map slice data at different scale levels can be obtained.

Step 23: Save the 3D vector high-precision map tile data and the index relationship to the index file.

In the embodiment of the present invention, the three-dimensional vector high-precision map slice data and the index relationship can be saved in the index file, and the index file can be saved in the cache of the browser.

Furthermore, after determining the target row and column numbers to be loaded, the 3D vector high-precision map slice data corresponding to the target row and column numbers is retrieved by searching for the index relationship in the index file.

Referring to FIG. 3, FIG. 3 is a schematic diagram of a three-dimensional vector high-precision map provided by an embodiment of the present invention. As shown in FIG. 3, the generated three-dimensional vector high-precision map includes road lines, zebra crossings, and lane lines in the road network. , and road signs at a certain height, etc. The three-dimensional vector high-precision map generated by the embodiment of the present invention can be applied to fields such as vehicle navigation and unmanned driving.

The embodiment of the present invention also provides a map generation device based on three-dimensional high-precision map slices. Referring to FIG. 4 , the device includes the following modules:

The first determination module 401 is used to determine the target geographic location coordinates of the target geographic location, and to determine the target scale level of the three-dimensional vector high-precision map to be generated;

The second determination module 402 is configured to determine, based on the coordinates of the target geographic location, the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs under the target scale level;

The second determination module 403 is configured to determine, based on the row and column numbers of the 3D vector HD map slice to which the target geographic location belongs, each adjacent 3D vector HD map within a preset range centered on the 3D vector HD map slice to which the target geographic location belongs The row and column number of the slice, and the row and column number of the 3D vector HD map slice to which the target geographic location belongs and the row and column number of each adjacent 3D vector HD map slice are marked as the row and column number to be loaded;

The comparison module 404 is used to compare the row and column numbers to be loaded with the initialized row and column numbers under the pre-stored target scale level, screen out the target row and column numbers, and the initialization row and column numbers are three-dimensional vector high-precision map slices containing geographic element location data The row and column number of ; the target row and column number is the intersection of the row and column number to be loaded and the initialization row and column number under the target scale level;

The generating module 405 is configured to obtain the 3D vector high-precision map slice data corresponding to each target row and column number, and perform visual rendering of the 3D data to generate a 3D vector high-precision map.

By applying the map generation device based on the three-dimensional high-precision map slice provided by the embodiment of the present invention, the three-dimensional vector high-precision map data can be segmented in advance and the segmented data can be saved according to the row and column numbers. After that, obtain the row and column numbers of the 3D vector HD map slices to be loaded at the target scale level, and filter out the row and column numbers of the 3D vector HD map slices containing the location data of geographic elements as the target row and column numbers. Obtain the 3D vector high-precision map slice data corresponding to the target row and column numbers, and perform visual rendering to generate a 3D vector high-precision map. It can be seen that high-performance visual rendering of 3D vector high-precision maps can be achieved.

Based on the same inventive concept, according to the above embodiments of the map generation method based on 3D high-precision map slices, the embodiment of the present invention further provides an electronic device, as shown in FIG. 5 , including a processor 501 , a communication interface 502 , and a memory 503 and a communication bus 504, wherein the processor 501, the communication interface 502, and the memory 503 complete the communication with each other through the communication bus 504,

a memory 503 for storing computer programs;

When the processor 501 is used to execute the program stored in the memory 503, the following steps are implemented:

Determine the coordinates of the target geographic location, and determine the target scale level of the three-dimensional vector high-precision map to be generated;

Based on the coordinates of the target geographic location, determine the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs at the target scale level;

Based on the row and column numbers of the 3D vector HD map slices to which the target geographic location belongs, determine the row and column numbers of adjacent 3D vector HD map slices within a preset range centered on the 3D vector HD map slices to which the target geographic location belongs, and assign the target location to the 3D vector HD map slices. The row and column numbers of the 3D vector HD map slice to which the geographic location belongs and the row and column numbers of each adjacent 3D vector HD map slice are marked as the row and column numbers to be loaded;

Compare the row and column numbers to be loaded with the initialized row and column numbers at the pre-stored target scale level, filter out the target row and column numbers, and the initial row and column numbers are the row and column numbers of the 3D vector high-precision map slices containing the location data of geographic elements; the target row and column numbers It is the intersection of the row and column numbers to be loaded and the initialization row and column numbers under the target scale level;

Obtain 3D vector high-precision map slice data corresponding to each target row and column number, and perform 3D data visualization rendering to generate a 3D vector high-precision map.

The communication bus mentioned in the above electronic device may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus or the like. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the above electronic device and other devices.

The memory may include random access memory (Random Access Memory, RAM), and may also include non-volatile memory (Non-Volatile Memory, NVM), such as at least one disk storage. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

The above-mentioned processor can be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; it can also be a digital signal processor (Digital Signal Processing, DSP), dedicated integrated Circuit (Application Specific Integrated Circuit, ASIC), Field-Programmable Gate Array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

By applying the electronic device provided by the embodiment of the present invention, the three-dimensional vector high-precision map data can be segmented in advance and the segmented data can be saved according to the row and column numbers. The row and column numbers of the loaded 3D vector HD map slices, and the row and column numbers of the 3D vector HD map slices containing the location data of geographic elements are filtered out as the target row and column numbers. Obtain the 3D vector high-precision map slice data corresponding to the target row and column numbers, and perform visual rendering to generate a 3D vector high-precision map. It can be seen that high-performance visual rendering of 3D vector high-precision maps can be achieved.

In yet another embodiment provided by the present invention, a computer-readable storage medium is also provided, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, any one of the above-mentioned three-dimensional high-precision maps is realized. Steps of the tiled map generation method.

In yet another embodiment provided by the present invention, there is also provided a computer program product including instructions, which, when running on a computer, enables the computer to execute any one of the methods for generating a map based on three-dimensional high-precision map slices in the above-mentioned embodiments A step of.

In another embodiment provided by the present invention, a chip for running instructions is also provided. The chip includes a memory and a processor. Code and data are stored in the memory. The memory is coupled to the processor, and the processor runs the code in the memory so that the chip uses The steps of executing any one of the above-mentioned methods for generating a map based on a 3D high-precision map slice in the above-mentioned embodiments are performed.

In yet another embodiment provided by the present invention, there is also provided a program product containing instructions, the program product includes a computer program, the computer program is stored in a computer-readable storage medium, and at least one processor can read from the computer-readable storage medium Taking a computer program, at least one processor executes the steps of any one of the map generation methods based on 3D high-precision map slices in the foregoing embodiments when the computer program is executed.

In yet another embodiment provided by the present invention, there is also provided a computer program, when the computer program is executed by a processor, for executing the steps of any one of the above-mentioned embodiments of the map generation method based on a three-dimensional high-precision map slice.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. A computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the procedures or functions according to the embodiments of the present invention result in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable device. Computer instructions may be stored on or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server, or data center over a wire (e.g. coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.) to another website site, computer, server, or data center. A computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, a data center, or the like that includes an integration of one or more available media. Useful media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), among others.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Each embodiment in this specification is described in a related manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the embodiments of the map generation apparatus, electronic device, computer-readable storage medium and computer program product based on 3D high-precision map slices, since they are basically similar to the embodiments of the map generation method based on 3D high-precision map slices, The description is relatively simple, and for relevant details, please refer to the partial description of the embodiment of the map generation method based on the three-dimensional high-precision map slice.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (14)

1. A map generation method based on three-dimensional high-precision map slices, characterized in that the method comprises:

   Determine the coordinates of the target geographic location, and determine the target scale level of the three-dimensional vector high-precision map to be generated;

   Based on the coordinates of the target geographic location, determine the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs at the target scale level;

   Based on the row and column numbers of the 3D vector HD map slice to which the target geographic location belongs, determine the row and column numbers of each adjacent 3D vector HD map slice within a preset range centered on the 3D vector HD map slice to which the target geographic location belongs , and mark the row and column numbers of the three-dimensional vector high-precision map slices to which the target geographic location belongs and the row and column numbers of the adjacent three-dimensional vector high-precision map slices as the row and column numbers to be loaded;

   Compare the row and column numbers to be loaded with the pre-stored initialization row and column numbers under the target scale level, and filter out the target row and column numbers, where the initialization row and column numbers include three-dimensional vectors containing geographic element location data under each scale level The row and column number of the HD map slice; the target row and column number is the intersection of the row and column number to be loaded and the initialization row and column number at the target scale level;

   Acquire the slice data of the three-dimensional vector high-precision map corresponding to each of the target row and column numbers, and perform visual rendering of the three-dimensional data to generate a three-dimensional vector high-precision map.
2. The method according to claim 1, wherein the determining the target scale level of the three-dimensional vector high-precision map to be generated comprises:

   Obtain the camera height of the three-dimensional vector high-precision map to be generated;

   Based on the preset correspondence between the camera height range and the scale level, the scale level corresponding to the camera height is determined as the target scale level.
3. The method according to claim 1, wherein the determining, based on the coordinates of the target geographic location, the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs at the target scale level, comprising:

   According to the pre-established correspondence between the two-dimensional geographic coordinate range covered by the three-dimensional vector high-precision map slice at different scale levels and the row and column numbers of the three-dimensional vector high-precision map slice, determine the corresponding two-dimensional geographic coordinate range to which the target geographic location belongs. The row and column numbers at the target scale level.
4. The method according to claim 1, characterized in that, determining the row and column numbers of the three-dimensional vector high-precision map slices to which the target geographic location belongs under the target scale level based on the coordinates of the target geographic location, comprising:

   According to the longitude contained in the coordinates of the target geographic location and the target scale level, the column number of the 3D vector HD map slice to which the target geographic location belongs is calculated according to the following formula:

   X=[(lng+180)/360*2^level]

   Wherein, X represents the column number of the 3D vector HD map slice to which the target geographic location belongs under the target scale level, lng represents the longitude included in the coordinates of the target geographic location, and level represents the target scale level;

   According to the latitude contained in the coordinates of the target geographic location and the target scale level, the row number of the 3D vector HD map slice to which the target geographic location belongs is calculated according to the following formula:

   Y=[(1-ln(tan(lat*π/180)+1/cos(lat*π/180))/π)/2*2^level]

   Wherein, Y represents the row number of the 3D vector high-precision map slice to which the target geographic location belongs at the target scale level, lat represents the latitude contained in the target geographic location coordinates, and level represents the target scale level.
5. The method according to claim 1, wherein the comparing the row and column numbers to be loaded with the pre-stored initialization row and column numbers at the target scale level, and filtering out the target row and column numbers, comprising:

   Traverse the row and column numbers to be loaded, and determine whether each row and column number to be loaded belongs to the initialization row and column number;

   If yes, determine the row and column number to be loaded as the target row and column number.
6. The method according to claim 1, wherein the acquiring the three-dimensional vector high-precision map slice data corresponding to each of the target row and column numbers comprises:

   Based on the target row and column numbers, the 3D vector high-precision map tile data corresponding to the target row and column numbers is searched from the pre-cached index file; the index file contains 3D vector high-precision maps with different row and column numbers at each scale level Slice the 3D vector HD map tile data.
7. The method according to claim 6, wherein the index file is constructed in the following manner:

   Divide the 3D vector HD map data to obtain 3D vector HD map slice data corresponding to 3D vector HD map slices with different row and column numbers at different scale levels;

   Establish the index relationship between each row and column number and the 3D vector HD map slice data at different scale levels;

   The three-dimensional vector high-precision map tile data and the index relationship are saved in the index file.
8. The method according to claim 6, wherein the three-dimensional vector high-precision map slice data is data in geojson format.
9. A map generation device based on three-dimensional high-precision map slices, characterized in that the device comprises:

   The first determination module is used to determine the coordinates of the target geographic location, and to determine the target scale level of the three-dimensional vector high-precision map to be generated;

   A second determining module, configured to determine, based on the coordinates of the target geographic location, the row and column numbers of the 3D vector high-precision map slices to which the target geographic location belongs under the target scale level;

   The second determination module is configured to determine, based on the row and column numbers of the 3D vector HD map slice to which the target geographic location belongs, each adjacent 3D vector within a preset range centered on the 3D vector HD map slice to which the target geographic location belongs The row and column numbers of the high-precision map slices, and the row and column numbers of the three-dimensional vector high-precision map slices to which the target geographic location belongs and the row and column numbers of the adjacent three-dimensional vector high-precision map slices are marked as the row and column numbers to be loaded;

   The comparison module is used to compare the row and column numbers to be loaded with the pre-stored initialization row and column numbers under the target scale level, and filter out the target row and column numbers, and the initialization row and column numbers include the geographic inclusions under each scale level. The row and column number of the three-dimensional vector high-precision map slice of the element location data; the target row and column number is the intersection of the row and column number to be loaded and the initialization row and column number at the target scale level;

   The generating module is used to obtain the slice data of the three-dimensional vector high-precision map corresponding to each of the target row and column numbers, and perform visual rendering of the three-dimensional data to generate the three-dimensional vector high-precision map.
10. An electronic device, characterized in that it includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

    memory for storing computer programs;

    The processor is configured to implement the method steps described in any one of claims 1-8 when executing the program stored in the memory.
11. A storage medium, characterized in that a computer program is stored in the storage medium, wherein the computer program is configured to implement the method steps of any one of claims 1-8 when running.
12. A chip for running instructions, characterized in that the chip includes a memory and a processor, the memory stores code and data, the memory is coupled to the processor, and the processor runs the code in the memory The chip is used to implement the method steps of any one of claims 1-8.
13. A program product containing instructions, characterized in that, when the program product is run on a computer, the computer is made to implement the method steps of any one of claims 1-8.
14. A computer program, characterized in that, when the computer program is executed by a processor, it is used to implement the method steps of any one of claims 1-8.

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