WO2024037236A1 - 路口面的生成方法、装置、设备、存储介质和程序产品 - Google Patents

路口面的生成方法、装置、设备、存储介质和程序产品 Download PDF

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Publication number
WO2024037236A1
WO2024037236A1 PCT/CN2023/105644 CN2023105644W WO2024037236A1 WO 2024037236 A1 WO2024037236 A1 WO 2024037236A1 CN 2023105644 W CN2023105644 W CN 2023105644W WO 2024037236 A1 WO2024037236 A1 WO 2024037236A1
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Prior art keywords
intersection
road
node
points
adjacent
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PCT/CN2023/105644
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English (en)
French (fr)
Inventor
肖童星
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Tencent Technology Shenzhen Co Ltd
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Tencent Technology Shenzhen Co Ltd
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Priority to JP2024532544A priority Critical patent/JP7740555B2/ja
Priority to EP23854141.1A priority patent/EP4435730A4/en
Publication of WO2024037236A1 publication Critical patent/WO2024037236A1/zh
Priority to US18/591,137 priority patent/US20240200979A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three-dimensional [3D] modelling for computer graphics
    • G06T17/05—Geographic models
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3863—Structures of map data
    • G01C21/3867—Geometry of map features, e.g. shape points, polygons or for simplified maps
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/62—Analysis of geometric attributes of area, perimeter, diameter or volume
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/64—Analysis of geometric attributes of convexity or concavity
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20112—Image segmentation details
    • G06T2207/20132—Image cropping

Definitions

  • the present application relates to the field of Internet technology, and in particular to a method, device, computer equipment, storage medium and computer program product for generating an intersection surface.
  • this application provides a method for generating intersection surfaces.
  • the methods include:
  • this application also provides a device for generating an intersection surface.
  • the device includes:
  • a determination module configured to determine a composite node intersection based on road network data, where the composite node intersection includes at least two single-node intersections;
  • a road surface generation module configured to obtain the road surface of the composite node intersection based on the intersection information of the composite node intersection
  • a single-node intersection surface generation module configured to determine the intersection surface of each of the at least two single-node intersections
  • An enclosing surface generation module configured to generate an enclosing surface of the composite node intersection based on the intersection surface of each of the single-node intersections;
  • An integration module is used to integrate the surrounding surface into the road surface to obtain the intersection surface of the composite node intersection.
  • this application also provides a computer device.
  • the computer device includes a memory and a processor.
  • the memory stores computer-readable storage instructions.
  • the processor executes the computer-readable storage instructions, the following steps are implemented:
  • this application also provides a computer-readable storage medium.
  • the computer-readable storage medium has computer-readable storage instructions stored thereon. When the computer-readable storage instructions are executed by the processor, the following steps are implemented:
  • this application also provides a computer program product.
  • the computer program product includes computer-readable storage instructions, which when executed by the processor, implement the following steps:
  • Figure 1 is an application environment diagram of the intersection surface generation method in one embodiment
  • Figure 2 is a schematic flowchart of a method for generating an intersection surface in one embodiment
  • Figure 3 is a schematic diagram of a single-node intersection in an embodiment
  • Figure 4 is a schematic diagram of a composite node intersection in an embodiment
  • Figure 5 is a schematic diagram of the effect of the road surface of a composite node intersection in one embodiment
  • Figure 6 is a schematic diagram of the intersection surface of each single node generated in one embodiment
  • Figure 7 is a schematic diagram of the surrounding surface of a composite node intersection in one embodiment
  • Figure 8 is a schematic diagram of the surrounding surface of a composite node intersection in another embodiment
  • Figure 9 is a schematic diagram of the surrounding surface of a composite node intersection in yet another embodiment.
  • Figure 10 is a schematic diagram of the effects of the surrounding surface and the road surface in one embodiment
  • Figure 11 is a schematic diagram of clipping points on the surrounding surface in one embodiment
  • Figure 12 is a schematic diagram of an intersection surface of an irregular-shaped composite node intersection in one embodiment
  • Figure 13 is a flow chart for reordering clipping points on the surrounding surface in one embodiment
  • Figure 14 is a schematic diagram of the effect of smoothly connecting cropping points in one embodiment
  • Figure 15 is a schematic diagram of a smooth connection of Bezier curves in an embodiment
  • Figure 16 is a schematic diagram of an intersection surface of a composite node intersection generated in one embodiment
  • Figure 17 is a schematic diagram of the road surface of a single-node intersection in an embodiment
  • Figure 18 is a schematic diagram of the intersection of road tangents in one embodiment
  • Figure 19 is a schematic diagram in which tangent lines do not intersect or intersect at the end points of tangent lines in one embodiment
  • Figure 20 is a schematic flowchart of generating an enclosing surface in a specific embodiment
  • Figure 21 is a structural block diagram of a device for generating an intersection surface in one embodiment
  • Figure 22 is an internal structure diagram of a computer device in one embodiment.
  • intersection surface generation method provided by the embodiments of the present application can be applied to various virtual map products such as high-precision virtual maps, ordinary precision maps, and urban road models, and can be used to visually present road areas including multiple intersections.
  • the intersection surface generation method can be understood as the process of compiling the original map data, that is, as a connecting link, the original map data is processed and processed to generate more compact and easier-to-use files or data.
  • the compiled data can be provided to the upper layer (such as map navigation, positioning technology, map rendering, etc.) for calls.
  • the generated intersection surface data of compound node intersections can provide the navigation engine with base map data at the intersection, enhance the visualization effect of the navigation interface, and can also be used for autonomous driving to make decisions at intersections, or use electronic
  • the map provides data support for objects such as drivers when making driving decisions to prevent vehicles from traveling beyond the intersection, thereby reducing the probability of accidents at intersections and improving the safety of autonomous driving.
  • intersection surfaces can generate intersection surfaces for single-node intersections, as well as road surfaces and intersection surfaces for compound-node intersections through road network data in electronic maps.
  • intelligent transportation systems can also be used to provide intelligent navigation route services to drivers and other driving objects based on location information, contours, etc. of intersection surfaces.
  • the terminal device can also use computer vision technology to more realistically and clearly display the high-precision three-dimensional image corresponding to the intersection in the navigation application page or map page.
  • lane-level navigation mainly uses high-precision map data (accuracy is at decimeter level and centimeter level).
  • the coverage area of high-precision maps is relatively limited.
  • high-precision map data is only available outside the fifth ring road, and within the fifth ring road. No of.
  • an algorithm needs to be used to generate some road elements based on a standard precision map (i.e., an ordinary navigation map, with an accuracy of 10 meters), and the intersection surface data of the composite node is used as the road
  • a standard precision map i.e., an ordinary navigation map, with an accuracy of 10 meters
  • the main disadvantage of generating composite node intersection surfaces is that it relies on a lot of original data.
  • path indication information such as left turn, right turn, go straight, etc.
  • the cost of collecting path indication information is high, it has a certain timeliness, and the coverage is relatively limited.
  • the corresponding route indication information cannot even be collected. This results in the poor robustness of the related technology, that is, poor anti-interference.
  • Many special cases require manual intervention, which is costly and difficult to fully automatically generate intersection surfaces for composite node intersections on a large scale.
  • embodiments of the present application provide a method for generating intersection surfaces.
  • a composite node intersection including at least two single-node intersections
  • it is only necessary to use the intersection information of the composite node intersection. obtain the road surface of the composite node intersection, generate the surrounding surface of the composite node intersection based on the intersection surface of each included single-node intersection, and then integrate the surrounding surface into the road surface to obtain the composite node intersection
  • the intersection surface of the composite node intersection can be generated simply, efficiently and with high quality while relying on less original data. There is no need to introduce complex calculation strategies to avoid extreme situations, and it is highly robust.
  • the intersection surface generation method provided by the embodiment of the present application can be applied in the application environment as shown in Figure 1.
  • the terminal 102 communicates with the server 104 through the network.
  • the data storage system can store data that the server 104 needs to process, such as the original road network data of multiple single-node intersections included in the composite node intersection.
  • the road network data includes roads connected to the single-node intersection, road grade, road width, Information such as the number of lanes, etc., these road network data can be used to generate intersection surfaces for composite node intersections.
  • the data storage system can be integrated on the server 104, or placed on the cloud or other servers.
  • the intersection surface generation method of the present application can be implemented by the server 104.
  • the server 104 determines the composite node intersection.
  • the composite node intersection includes at least two single-node intersections. According to the intersection information of the composite node intersection, the composite node intersection is obtained.
  • road surface respectively determine the intersection surface of each of the at least two single-node intersections, and then the server 104 generates the surrounding surface of the composite node intersection based on the intersection surface of each single-node intersection, and then integrates the surrounding surface into the road Surface to obtain the intersection surface of the composite node intersection.
  • the terminal 102 can call the intersection surface of the composite node intersection generated by the server 104 (the boundary line of the intersection surface corresponds to a point string, that is, a series of point coordinates), and render and display the intersection surface in the virtual map.
  • an application that supports map services may be installed and run on the terminal 102.
  • the server 104 may be a server that provides services for the application.
  • the terminal 102 interacts with the server 104 based on the application.
  • the application can be a map application, a navigation application, a positioning application, or any application that supports displaying intersections, such as a transportation application, a game application that needs to call and display road intersections, etc. It can be understood that in some embodiments, the intersection surface of the composite node can also be generated by the terminal. The execution subject of generating the intersection surface is not limited in the embodiments of this application.
  • the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablets, Internet of Things devices and portable wearable devices.
  • the Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart Vehicle-mounted equipment, etc.
  • Smart vehicle-mounted equipment can be vehicle-mounted navigation terminals and vehicle-mounted computers, etc.
  • Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc.
  • the server 104 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or it can provide cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, Cloud servers or server clusters for basic cloud computing services such as middleware services, domain name services, security services, content delivery network (CDN), and big data and artificial intelligence platforms.
  • cloud services such as middleware services, domain name services, security services, content delivery network (CDN), and big data and artificial intelligence platforms.
  • a method for generating an intersection surface is provided. This method is explained by taking the method applied to the computer device (such as the server 104) in Figure 1 as an example, and includes the following steps:
  • Step 202 Determine a composite node intersection based on road network data.
  • the composite node intersection includes at least two single-node intersections.
  • the road network data of the map is data describing intricate roads.
  • An intersection is a road element formed by the intersection of at least two roads.
  • an intersection can be represented by at least one node.
  • roads are generally represented by a line segment without width (hereinafter referred to as a link), which is a "linear" road.
  • Each line segment is represented by multiple discrete position points arranged in order.
  • a position point is a coordinate. , such as latitude and longitude coordinates.
  • At least two line segments (links) intersect to form a node, that is, the endpoint where at least two line segments intersect is recorded as a node, and the node represents an intersection formed by the intersection of the roads indicated by the at least two line segments.
  • intersections can be divided into single-node intersections and compound-node intersections.
  • a single-node intersection refers to an intersection represented by a single node
  • a compound-node intersection refers to an intersection represented by multiple nodes, that is, a "big intersection”.
  • FIG 3 it is a schematic diagram of a single-node intersection in an embodiment. As shown in Figure 3, in this single-node intersection, four roads from road 1 (link1) to road 4 (link4) merge together to form a single-node intersection A.
  • the composite node intersection includes four single-node intersections. Each single-node intersection is also composed of 4 roads that merge together to form a single-node intersection. It can be seen that the composite node intersection includes a total of 12 roads. Road (the link mentioned above).
  • the number of roads gathered at each single-node intersection is at least two, and may be 3, 4, 6, 10 roads, etc., and is not specifically limited in this application.
  • the number of single-node intersections included in each composite node intersection is at least two, and may be 3, 4, 5, etc., and is not specifically limited in this application.
  • the single-node intersections and compound-node intersections shown in Figures 3 and 4 are not necessarily perpendicular to each other. In practical applications, they may not be perpendicular to each other. This application does not make specific limitations.
  • the computer device can determine the composite node intersection to be generated from the map data.
  • the composite node intersection can be a composite node intersection that lacks high-precision data in the high-precision map, or it can be a composite node intersection that needs to generate the intersection surface in the ordinary precision map.
  • the computer device can obtain the known map road network data and obtain the road network data of each single-node intersection from the map road network data.
  • the road network data of each single-node intersection may include road network data of at least two roads connected to the single-node intersection, and may also include the intersection identifier of the composite node intersection where it is located.
  • Road network data for each road which can include A string of coordinate data (point string), that is, a series of discrete position points that form the road. It can also include the intersection identification of the single-node intersection it is connected to, and can also include the road attributes of the road, such as road width, road Grade, road name, number of lanes on the road, etc.
  • Step 204 Obtain the road surface of the composite node intersection based on the intersection information of the composite node intersection.
  • the intersection information of the composite node intersection includes the intersection information of the single-node intersections included in the composite node. For example, which single-node intersections are included in the composite node intersection.
  • the intersection information of the composite node intersection also includes the intersection information of each single-node intersection included. Intersection information.
  • the intersection information of each single-node intersection also includes: road information of the road connected to the single-node intersection.
  • the road information includes but is not limited to road grade, number of lanes, etc.
  • Road surface is a "surface" road obtained by widening the "linear" road included in the compound node intersection. Its essence is the data of the two road edges of the road, that is, the road can be drawn based on the two road edges of the road. road surface.
  • the computer device can obtain the corresponding intersection information, thereby determining the single node intersections included in the composite node intersection, the roads aggregated by each single node intersection, the road information of each road, etc. .
  • the computer device needs to first generate the road surface of the composite node intersection, and the road surface is generated based on the road surface of each road included in the composite node intersection.
  • the road surface of a composite node intersection may be the set of road surfaces of each included road.
  • each road is usually represented by a line segment without width, which is a "linear" road.
  • the computer equipment needs to convert the line segment without width. Broaden the road surface to a certain width.
  • the basis for widening can be the road information of the road, such as road grade, number of lanes, etc.
  • the lane grade can be, for example, a trunk road, a secondary trunk road, a branch road, etc.
  • the lane grade can also be, for example, a first-class highway or a second-class highway. , third-class highways, fourth-class highways, etc.
  • Roads with different road information correspond to different widening widths, and the computer equipment widens each road into a corresponding road surface according to the road width.
  • the road information of the road may directly include the corresponding road width, and the computer device widens each road into a corresponding road surface according to the road width.
  • the road width of each road may also take the same value. It can be understood that the road surface formed after each road is widened includes a left side line and a right side line of the road surface.
  • the road width used to widen the road can be the road width on one side or the common road width on the left and right sides.
  • the road widths on both sides can be the same or different.
  • step 204 includes: obtaining the respective road network data of each single-node intersection included in the composite node intersection; determining at least two roads connected to each single-node intersection according to the road network data to obtain the composite node intersection. Multiple roads included; for each road, obtain corresponding road information, which includes at least one of road grade, number of lanes, and lane width; determine the road width corresponding to each road based on the road information, and expand the respective The road width widens each road to obtain the road surface of the road; based on the road surface of each road, the road surface of the composite node intersection is obtained.
  • a road without width can be widened to obtain the corresponding road surface based only on the road information of the roads included in the composite node intersection, so that the road surface of the composite node intersection can be generated simply and efficiently without relying on Other additional data or complex strategies.
  • FIG. 5 it is a schematic diagram of the effect of the road surface of the composite node intersection in one embodiment.
  • each road is widened to both sides according to the corresponding road width to form the road surface of the compound node intersection. .
  • Step 206 Determine the intersection surface of each of the at least two single-node intersections.
  • each single-node intersection is a node formed by the intersection of at least two line segments (links). This node represents a single-node intersection. It can be seen that a single-node intersection is a "point-like" data.
  • the computer device needs to first generate the intersection surface of each single-node intersection included in the composite node intersection, and expand the "point-like" data into "area-like” data.
  • the embodiment of this application does not limit the method or specific algorithm for generating the intersection surface of each single-node intersection.
  • the computer device can extend a certain offset outward from each single-node intersection along the road surface of each road. Set the distance to obtain the vertical line with the road surface (also called the tangent line of the road surface), and connect the vertical lines on the road surface of each road to form a closed shape as the intersection surface of the single-node intersection.
  • the computer device can also determine the intersection point of the tangent line with the edge lines on both sides of the road surface, and determine a minimum convex polygon based on the intersection point on the road surface of each road as the intersection surface of the single-node intersection. .
  • the offset distance is specified.
  • the shape of the intersection surface may be abnormal and cannot fit the actual situation.
  • the computer equipment can constrain the tangent line of each road connected to the single node intersection, that is: 1 tangent line Perpendicular to the road surface; 2 The tangent lines do not intersect each other or only intersect at the end points of the tangent lines.
  • the area of the intersection surface of the single-node intersection can also be constrained to be as small as possible.
  • the computer device can use any algorithm or strategy to implement the above constraints to ensure that the shape of the intersection surface of a single node fits the actual situation. This is not limited by the embodiments of the present application. Specific embodiments will be described in detail later.
  • FIG. 6 it is a schematic diagram of the intersection surface of each single node in the composite node intersection generated in one embodiment.
  • the computer device generates an intersection surface for each single node respectively.
  • Step 208 Generate the surrounding surface of the composite node intersection based on the intersection surface of each single-node intersection.
  • the enclosing surface is a closed shape formed by the intersection surface edges of the composite node intersection.
  • the intersection surface edge is represented by a series of ordered and discrete position points. These discrete and ordered position points can be used to draw the intersection surface edges of the composite node intersection. .
  • the computer device After obtaining the intersection surface of each single-node intersection included in the composite node intersection, the computer device generates an enclosing surface based on the intersection surface of each single-node intersection, and the enclosing surface can surround each of the above-mentioned single-node intersections. Intersection surface.
  • the enclosing surface is the convex hull of the minimum area of the intersection surface surrounding each of the above-mentioned single-node intersections, that is, the convex hull intersection surface.
  • the enclosing surface is a convex hull of the smallest area surrounding the intersection surface of each single-node intersection, and each boundary line of the convex hull is perpendicular to the corresponding road surface.
  • the enclosing surface is the largest irregular shape formed by all the shape points of the intersection surface of each single-node intersection.
  • the essence of the enclosing surface is a continuous, ordered string of data points that can form a closed shape.
  • generating the surrounding surface of the composite node intersection based on the intersection surface of each single-node intersection includes: obtaining a first set of shape points based on the shape points included in the intersection surface of each single-node intersection; Shape point set, calculate the minimum convex polygon surrounding all shape points in the first shape point set, as the surrounding surface of the composite node intersection.
  • the intersection surface of each single-node intersection is a closed shape.
  • the closed shape is formed by several shape points. It can be understood that the shape points are the vertices on the boundary line forming the closed shape.
  • the computer device collects the shape points of the intersection surface of each single-node intersection to obtain a first set of shape points. Subsequently, the computer device calculates the shape points surrounding the first shape point. The minimum convex polygon of all shape points in the set is used as the surrounding surface of the composite node intersection.
  • the composite node intersection includes four single-node intersections, and the minimum convex polygon including all shape points of the four single-node intersections serves as the surrounding surface of the composite node intersection.
  • the computer device can also fill the minimum convex polygon outward so that each boundary line is perpendicular to each road surface.
  • the road surface of the road is vertical, and the surrounding surface of the composite node intersection is obtained.
  • subsequent steps of integrating the enclosing surface into the road surface of the composite node intersection are performed to obtain the intersection surface of the composite node intersection.
  • FIG. 8 it is a schematic diagram of the enclosing surface of a composite node intersection in one embodiment. Each boundary line corresponding to the enclosing surface is perpendicular to the road surface of each road.
  • the computer device can determine a maximum irregular shape that can be formed by these shape points based on the shape points of the intersection surface of each single-node intersection, as the enclosing surface of the composite node intersection, and then based on the enclosing surface, Perform subsequent steps of integrating the surrounding surface into the road surface of the composite node intersection to obtain the intersection surface of the composite node intersection.
  • FIG. 9 it is a schematic diagram of the surrounding surface of a compound node intersection in another embodiment.
  • the surrounding surface is an irregular figure and has an abnormal shape.
  • the above embodiment is based on the method of surrounding the intersection surfaces of the included single-node intersections. It is highly versatile and has universal applicability. It can simply and efficiently generate the preliminary form of the intersection surface of the composite node intersection without relying on other additional components. data or complex strategies.
  • Step 210 Integrate the surrounding surface into the road surface to obtain the intersection surface of the composite node intersection.
  • the computer equipment uses the road surface of the road corresponding to the composite node intersection to further process the surrounding surface, that is, integrate the surrounding surface into the road surface to obtain a composite The intersection face of the node intersection.
  • the computer equipment can further "cut" the surrounding surface to make the boundary line of the intersection more accurate, smooth, and natural, thereby obtaining the final intersection surface of the composite node intersection that fits the actual road conditions.
  • cutting in the embodiments of this application refers to further processing on the basis of the enclosing surface of the composite node intersection obtained in the above steps to obtain an enclosing surface that fits the actual road conditions, which can be used as the composite The intersection face of the node intersection.
  • the computer device can also directly use the enclosing surface obtained in the previous step 208 as the intersection surface generated for the composite node intersection.
  • FIG 10 it is a schematic diagram of the effects of the surrounding surface and the road surface in one embodiment. It can be seen that the current package The enclosing surface does not particularly match the multiple roads included in the composite node intersection. The enclosing surface exceeds the range of the road surface, resulting in the generated intersection surface being inaccurate.
  • the computer device can further crop the surrounding surface.
  • the computer device may first determine the clipping point.
  • the clipping point may be the intersection point of the boundary line corresponding to the surrounding surface of the composite node intersection and the road surface edge line of the road included in the composite node.
  • FIG 11 it is a schematic diagram of the clipping point on the boundary line corresponding to the surrounding surface in one embodiment. Refer to Figure 11. The small white dots in the figure are the cropping points.
  • step 210 may be: determining the road surface edge lines of each road included in the road surface of the composite node intersection, determining the intersection point of the boundary line of the surrounding surface of the composite node intersection and the road surface edge line, and obtaining the intersection point of the surrounding surface. For the clipping point set formed by the clipping points, determine every two adjacent clipping points in the clipping point set, and use straight lines to connect each two adjacent clipping points to obtain the intersection surface of the composite node intersection. As shown in Figure 12, it is a schematic diagram of an intersection surface of an irregular-shaped composite node intersection in one embodiment.
  • step 210 may also be: determining the road surface edge lines of each road included in the road surface of the compound node intersection, determining the intersection point of the boundary line corresponding to the surrounding surface of the compound node intersection and the road surface edge line, to obtain For the clipping point set formed by the clipping points of the surrounding surface, determine every two adjacent clipping points in the clipping point set, perform smoothing processing between each two adjacent clipping points on the surrounding surface, and obtain the intersection of the composite node intersection. noodle.
  • the road surface edge lines of each road included in the road surface of the compound node intersection include the left edge line and the right edge line of the road surface of each road.
  • the corresponding boundary line of the surrounding surface of the compound node intersection is also the border line of the surrounding surface.
  • the surrounding line of the surface Based on the intersection of the point string representing the surrounding line and the point string representing the road surface edge of each road, the computer device can determine the trimming point set formed by the trimming points of the surrounding surface, recorded as trimPoints.
  • the so-called adjacency means that the order of the two clipping points on the boundary line of the surrounding surface is adjacent.
  • the order of the cropping points needs to be determined, and each two adjacent cropping points in the cropping point set are determined by reordering the cropping points.
  • determining every two adjacent clipping points in the clipping point set includes: determining a second shape point set formed by the shape points surrounding the surface, and the shape points exist in sequence; for each clipping point set in the clipping point set, clipping points, calculate the clipping point at the second left adjacent shape point and the right adjacent shape point; for each clipping point in the clipping point set, sort it in the order of the corresponding target shape points, and determine the clipping point set according to the sorting result.
  • the target shape point is the left adjacent shape point or the right adjacent shape point.
  • the enclosing surface is a closed shape, which is formed by several shape points.
  • the shape points of the enclosing surface are the vertices on the boundary line corresponding to the enclosing surface, such as A, B, C, etc. as shown in Figure 10. There is an order of these vertices on the boundary line. The order can be a clockwise order starting from a certain vertex, or a counter-clockwise order starting from a certain vertex.
  • the second set of shape points formed by these shape points can be recorded as basePoints.
  • the computer device determines the left neighboring shape point p1 and the right neighboring shape point p2 of each clipping point in the second shape point set, that is, the clipping point point is located at the second shape point Which two in the set between adjacent points (p1, p2), so that the order of p1 on the boundary line corresponding to the surrounding surface (can be determined by the index index) or the order of p2 on the boundary line corresponding to the surrounding surface, Reorder the clipping points.
  • FIG. 13 it is a flow chart for reordering clipping points on the surrounding surface in one embodiment.
  • the clipping point reordering steps include:
  • Step 1302 Determine the trimming point set trimPoints and the second shape point set basePoints.
  • Step 1304 for each trimming point point in trimPoints, determine which two adjacent points (p1, p2) the trimming point point is located in the second shape point set, where p1 or p2 is on the boundary line of the surrounding surface.
  • the index is denoted as index.
  • the binary value of the clipping point can be obtained by uniformly pressing the index of p1 on the boundary line of the surrounding surface. group, or you can uniformly obtain the two-tuple group of clipping points based on the index index of p2 on the boundary line of the surrounding surface.
  • the indexes corresponding to the two cropping points may be consistent. If they are consistent, compare the distance between the two points and the shape point basePoints (index) corresponding to the index and then sort. If they are inconsistent, compare the size of the index directly and press Sort by index size.
  • Step 1306 Record the cropping point as a tuple (point, index).
  • Step 1308 For each trimming point in trimPoints, sort according to the index index to obtain a reordered trimming point sequence.
  • each shape point in the second shape point set basePoints is determined in a clockwise direction from small to large, the corresponding index index is determined, and the index index of p1 on the boundary line of the surrounding surface is uniformly sorted in order from small to large. Then if the indexes corresponding to the two cropping point points are consistent, the cropping point that is closer to the shape point basePoints(index) corresponding to the index is sorted later, and the cropping point that is farther away is sorted first.
  • the computer device After the computer device obtains the reordered clipping point sequence, it can determine every two adjacent clipping points in the clipping point set.
  • smoothing is performed between each two adjacent clipping points on the enclosing surface, including: when two adjacent clipping points are located on the road surface edge of the same road on the enclosing surface, using a straight line to connect Two adjacent clipping points; when the two adjacent clipping points are located on the edge of the road surface of different roads surrounding the polygon, use a smooth curve to connect the two adjacent clipping points.
  • FIG 14 it is a schematic diagram of the effect of smoothly connecting cropping points in one embodiment.
  • the adjacent clipping points M and N are located on the two road surface edges of the same road surrounding the surface, then the clipping points M and N are directly connected with straight lines; the adjacent clipping points P and Q are located on On the two road surface edges of different roads surrounding the surface, smooth curves are used to connect the clipping points P and Q.
  • the smooth curve is a Bezier curve
  • the step of generating the Bezier curve between two adjacent clipping points includes: dividing the two adjacent clipping points along the road where the clipping point is located.
  • the surface edge line is extended in the direction of the single-node intersection connected to the road surface edge line, and two control points are obtained; based on the two adjacent clipping points and the two control points, Generate Bezier curves.
  • two control points are determined for two adjacent clipping points located on the road surface edges of different roads surrounding the surface. Based on the two adjacent clipping points and the two control points, the generated It is a fourth-order Bezier curve, which can ensure that the Bezier curve is tangent to the road surface edge where the two adjacent clipping points are located, thereby obtaining a better smooth transition effect.
  • a control point can also be determined between the two adjacent cropping points, and a third-order Bezier curve can be generated based on the one control point and the two adjacent cropping points, or it can also be Three control points are determined between the two adjacent clipping points, and a fifth-order Bezier curve is generated based on the three control points and the two adjacent clipping points.
  • FIG. 15 it is a schematic diagram of the smooth connection of Bezier curves in one embodiment.
  • road surface edge 1 is one side edge of the road surface of road 1 (link1)
  • road surface edge 2 is one side edge of the road surface of road 2 (link2).
  • P1 and P2 are the clipping points where the composite road surface intersects road surface edge 1 and road surface edge 2 respectively.
  • the computer device calculates the Bezier curve between P1 and P2 in the following way. Taking the fourth-order Bezier curve as an example, in addition to the P1 and P2 points, two additional control points need to be calculated.
  • the calculation method is as follows: start from P1 and point along the road surface edge 1 in the direction of the single-node intersection to which it is connected.
  • the computer device can calculate the point string corresponding to the Bezier curve between P1 and P2 based on the cropping points P1 and P2 and the control points P11 and P22, and use the point string to smoothly connect P1 and P2.
  • FIG 16 it is a schematic diagram of the intersection surface of the composite node intersection generated in one embodiment.
  • the closed irregular figure in the figure is the intersection surface of the finally generated composite node intersection.
  • the computer device can store the point string corresponding to the boundary line of the intersection surface and the intersection identification of the composite node intersection as the composite node intersection.
  • the attribute data of the node intersection can be quickly used by other applications or interfaces when displaying and rendering the composite node intersection.
  • the following describes in detail the generation method of the intersection surface of each single-node intersection included in the composite node intersection.
  • step 206 determines the intersection surface of each of the at least two single-node intersections, including: for each single-node intersection, determine at least two roads connected to the single-node intersection; obtain constraints Conditions and objective functions; among them, the objective function is used to indicate the solution goal of the area size of the intersection surface of a single-node intersection, and the constraint conditions are used to indicate the restrictions on the area size.
  • the constraint conditions include at least two adjacent roads in each of the two roads.
  • the constraint relationship between the offset variables of the road, the objective function includes at least two offset variables, each offset variable is used to indicate the distance between a single node intersection and the tangent line of the corresponding road; according to at least two roads
  • the road surface width of each road and the constraint conditions are used to solve the objective function to obtain the offset distance of the road; the intersection surface of the single-node intersection is generated based on the road surface width and the road offset distance.
  • each road can be widened into a road surface with a certain width.
  • the corresponding road surface width information consists of the road surface width information of the left sub-road surface of link1 (ie, l w1 ), and the road surface width information of the right sub-road surface of link1 (ie, r w1 ). constitute.
  • the corresponding road surface width information is also composed of the road surface width information of the left sub-road surface of link2 (ie, l w2 ), and the road surface width information of the right sub-road surface of link2 (ie, r w2 ). .
  • the width information and the road surface width information of link4 can also be understood with reference to the road surface width information of link1 and link2.
  • each road if the corresponding tangent lines of each road intersect, it will cause the shape of the intersection surface of the single-node intersection to be generated to be abnormal, and it will not accurately reflect the real intersection surface. Therefore, if you want to ensure that there are no abnormalities in the shape of the intersection surface, you need to ensure that the corresponding tangent lines of each road do not intersect.
  • Each road will be perpendicular to its corresponding tangent line. The location of the tangent line can be represented by the distance from the intersection of the tangent line and the link to the single-node intersection.
  • the distance from the intersection of the tangent and the link to the single-node intersection is called the offset distance described later in the embodiments of this application. Whether the tangents corresponding to each road intersect depends on the offset distance of each road. If the offset distance of the road is too small, the corresponding tangent lines will intersect at the middle part of the tangent lines, resulting in an abnormal shape of the intersection surface.
  • FIG. 18 shows a schematic diagram of road tangent intersections provided by an embodiment of the present application.
  • the tangent line of link1 ie L 1
  • the intersection of L 1 and L 2 will be limited by the value of the offset variable of link1 (ie w1), And the value of the adjacent link2 offset variable (i.e. w2).
  • the intersection of L 2 with the tangent line of link3 i.e. L 3
  • the value of the adjacent offset variable of link3 i.e. w3
  • the intersection of L 3 and the tangent line of link4 i.e.
  • the offset variable mentioned can be used to indicate the distance between a single-node intersection and the tangent line of the corresponding road.
  • w1 can be used to indicate the distance between a single-node intersection A and the tangent line L 1 of link1. distance situation.
  • the offset variable is assigned a specific value, it can be called the offset distance.
  • the value of w1 will affect the value of adjacent w2, the value of w2 will affect the value of adjacent w3, the value of w3 will affect the value of adjacent w4, and the value of w4 The value will affect the value of adjacent w1.
  • the value of w1 will affect the value of adjacent w4, the value of w4 will affect the value of adjacent w3, the value of w3 will affect the value of adjacent w2, and the value of w2 The value will affect the value of adjacent w1.
  • the coupling relationships between the offset variables w1, w2, w3, and w4 are mutually constrained. , therefore, in the embodiment of the present application, a mathematical optimization method can be used to handle this coupling relationship, that is, the constraint relationship between the offset variables of each road is turned into a constraint equation of the optimization problem.
  • the computer device can construct the constraint condition based on the constraint relationship between the offset variables of each two adjacent roads, and determine the value of the offset variable w of each road so that there is no difference between the tangents L of the respective corresponding roads. Intersect or intersect only at endpoints.
  • the constraint relationship between the offset variables of each two adjacent roads can be constructed through the angle information between each two adjacent roads. For example, the computer device can determine the angle information between each two adjacent roads based on the road surface width information of each two adjacent roads and the offset variable of the corresponding road, and then determine the angle information between each two adjacent roads based on the road surface width information of each two adjacent roads. The angle information between the roads is used to construct constraint conditions.
  • constraints can be implemented in the following way: the road surface of each road includes the left side of the road surface line and the right edge of the road surface, the computer device can obtain the angle between the first road and the second road, and the first road and the second road are adjacent roads among at least two roads; obtain the first road and the first road The first included angle between the right side lines of the road surface of the road, and the second included angle between the left side line of the road surface of the second road and the second road, and the right side line of the road surface of the first road and the second The third included angle between the left edges of the road surface of the road; constraint conditions are constructed based on the included angle between the first road and the second road, as well as the first included angle, the second included angle, and the third included angle.
  • link1 in Figure 19 can be understood as the first road
  • link2 can be understood as the second road.
  • Link1 is adjacent to link2 and connected to point A of a single-interface intersection.
  • the intersection point of the tangent line L1 and the right edge of the road surface of link1 is P1
  • the intersection point of the tangent line L2 and the left edge of the road surface of link2 is P2.
  • the angle between link1 and link2, namely ⁇ 12 can be calculated through the coordinates of the road shape point of link1 and the coordinates of the road shape point of link2.
  • the first included angle namely ⁇ 1
  • the road surface width of the right sub-road surface of link1 can be r w 1 through the arctangent function.
  • the road surface width of the left sub-road surface of link2 can also be l w2 through the arctangent function.
  • angles ⁇ 1 and ⁇ 2 should satisfy:
  • min a 1 is the minimum value of the angle P 1 AP 2 , that is, the angle between the right edge of the road surface of link1 and the left edge of the road surface of link2.
  • the area size of the intersection surface of the single-node intersection can be used as the objective function.
  • the area size can be calculated by the above
  • the constraints created are restricted.
  • the objective function includes at least two bias variables, and the constraint relationship between each bias variable can be understood with reference to the constraints constructed above.
  • the area size of the intersection polygon is affected by the value of the offset variable of the road connected to the single-node intersection. Therefore, the value of the offset variable w of the road associated with a single-node intersection can be characterized as the area size of the intersection surface of the single-node intersection. representation.
  • the sum of the squares of the offset variables to represent the area size of the intersection
  • the sum of the cubes of the offset variables, the sum of N (N ⁇ 2) powers, and the absolute value may also be used. It can be represented by the sum and other methods, and is not specifically limited in the embodiments of this application.
  • the objective function can be solved and calculated based on the road surface width information and constraint conditions of the road, and then the specific value of each offset variable in the objective function can be calculated, that is, we get Offset distance for each road.
  • the objective function can be solved based on a preset constraint optimization model such as the interior point method.
  • a preset constraint optimization model such as the interior point method.
  • the preset constraints can be used to optimize the model.
  • the road surface width information of each road is processed to obtain the specific value of the offset variable of each road, that is, the optimal solution of the offset distance of each road is obtained.
  • the intersection surface of the single-node intersection can be generated based on the road surface width information of each road and the offset distance of the corresponding road.
  • the above method of generating the intersection surface of a single-node intersection only requires the construction of constraint conditions based on the constraint relationship between the offset variables of adjacent roads, and combines the road surface width information of the road to calculate the offset distance of the road. There is no need to rely on complex A pure geometric algorithm, which can efficiently generate intersection surfaces of intersection nodes.
  • FIG 20 it is a schematic flow chart of generating an enclosing surface in a specific embodiment.
  • the method can be executed by a computer device, and with reference to Figure 20, includes the following steps:
  • Step 2002 When the respective road network data of at least two single-node intersections include the same composite node intersection identifier, determine that the at least two single-node intersections form a composite node intersection corresponding to the composite node intersection identifier;
  • Step 2004 Obtain the road network data of each single-node intersection included in the composite node intersection;
  • Step 2006 Determine at least two roads connected to each single-node intersection according to the road network data, and obtain multiple roads included in the composite node intersection;
  • Step 2008 For each road, obtain corresponding road information.
  • the road information includes at least one of road grade, lane number and lane width; determine the road width corresponding to each road based on the road information, and widen each road according to the respective road width. , get the road surface of the road;
  • Step 2010 Obtain the road surface of the composite node intersection based on the road surface of each road;
  • Step 2012 Determine the intersection surface of each of the at least two single-node intersections
  • Step 2014 Obtain a first set of shape points based on the shape points included in the intersection surface of each single-node intersection;
  • Step 2016 Calculate the minimum convex polygon surrounding all shape points in the first shape point set according to the first shape point set, and obtain the surrounding surface of the composite node intersection;
  • Step 2018 Determine the road surface edges of each road included in the road surface of the composite node intersection
  • Step 2020 determine the intersection point of the boundary line of the surrounding surface of the compound node intersection and the edge line of the road surface, and obtain a set of clipping points formed by the clipping points of the surrounding surface;
  • Step 2022 Determine the second set of shape points formed by the shape points surrounding the surface.
  • the shape points exist in sequence;
  • Step 2024 For each clipping point in the clipping point set, calculate the clipping point at the second left adjacent shape point and the right adjacent shape point;
  • Step 2026 For each clipping point in the clipping point set, sort the corresponding target shape points in the order, and determine every two adjacent clipping points in the clipping point set according to the sorting results.
  • the target shape point is the left adjacent shape. point or right adjacent shape point;
  • Step 2028 When two adjacent clipping points are located on the edge of the road surface of the same road surrounding the surface, use a straight line to connect the two adjacent clipping points;
  • Step 2030 When two adjacent clipping points are located on the road surface edges of different roads surrounding the surface, use a smooth curve to connect the two adjacent clipping points;
  • Step 2032 Obtain the intersection surface of the composite node intersection based on the connected clipping points.
  • using a smooth curve to connect two adjacent clipping points in step 2030 may include: connecting the two adjacent clipping points along the edge of the road surface where the clipping point is located, to the single point to which the edge of the road surface is connected. The direction of the node intersection is extended to obtain two control points; a Bezier curve is generated based on the two adjacent clipping points and the two control points, and the Bezier curve is used to connect the two adjacent clipping points.
  • the step of generating the intersection surface of each single-node intersection in step 2012 may include: for each single-node intersection, determine at least two roads connected to the single-node intersection; according to the road surface width of each two adjacent roads and the offset variable of the corresponding road to determine the angle information between each two adjacent roads; where the angle information is used to indicate the intersection between the corresponding tangents of the two adjacent roads; obtain the first The angle between the road and the second road.
  • the first road and the second road are adjacent roads among at least two roads; obtain the first angle between the first road and the right edge of the road surface of the first road.
  • the constraints are used to indicate the limits of the area size.
  • the constraints include the constraint relationship between the offset variables of each of the two adjacent roads in at least two roads.
  • the objective function includes at least two Offset variables, each offset variable is used to indicate the distance between a single node intersection and the tangent line of the corresponding road; solve the objective function based on the road surface width and constraints of each of at least two roads, and obtain the road offset distance; generate the intersection surface of a single-node intersection based on the road surface width of the road and the offset distance of the road.
  • intersection surface generation method for a composite node intersection including at least two single-node intersections, only needs to obtain the road surface of the composite node intersection based on the intersection information of the composite node intersection, and based on the information of each single-node intersection included Intersection surface, generate the surrounding surface of the composite node intersection, and then cut the surrounding surface into the road surface, you can get the intersection surface of the composite node intersection, which can be simple, efficient, and reliable while relying on less original data.
  • high quality students Forming an envelope there is no need to introduce complex calculation strategies to avoid extreme situations, and it is highly robust.
  • intersection surface generation method provided by the embodiments of the present application can be applied to any scenario where intersection surfaces of composite node intersections need to be generated based on original road network data.
  • high-precision maps if certain areas lack corresponding high-precision
  • ordinary map data can be used and the intersection surface generation method provided by the embodiment of the present application can be used to generate corresponding intersection surfaces for composite node intersections in these areas.
  • the intersection surface of a compound node intersection can be efficiently generated by relying only on the original ordinary map data without relying on other route indication information.
  • the intersection surface of the generated composite node intersection can be called by the map application, and the intersection surface can be directly rendered and displayed based on the point string data of the intersection surface.
  • the corresponding game screen can be rendered and displayed directly based on the point string data of the intersection surface in the urban road model.
  • applicable scenarios are not limited to this.
  • intersection surface generation method provided by the embodiments of the present application can be used based on ordinary map data to overcome the problem that intersection surfaces of high-precision maps cannot be rendered and displayed in the above-mentioned areas.
  • the computer equipment can find in advance those areas on the map that lack high-precision maps, such as areas within the 5th ring road of a certain city, and then obtain the original road network data of the roads in these areas, which are used to generate ordinary maps.
  • a road is a line segment without width, that is, a group of data points (link) is used to represent the road. This group of data points is also called a point string.
  • Road network data also includes road information. If the road network data of multiple roads include the same single-point intersection identification, the multiple roads form a single-node intersection. For each single-node intersection, the computer device can generate the intersection surface of the single-node intersection. The intersection surface is generated to generate the point coordinates of the shape of the road.
  • intersection surface of the single-node intersection is essentially represented by a set of data points, and each data point is a coordinates, a set of data points that can form a closed polygon.
  • computer equipment can generate corresponding intersection surfaces.
  • the main purpose of generating the intersection surface is to generate the shape point coordinates of the intersection surface boundary. In high-precision maps, the shape point coordinates of these boundaries are generally given directly in the raw data provided upstream.
  • the multiple single-node intersections form a composite node intersection.
  • the computer device can generate a corresponding intersection surface, which specifically includes: determining multiple single-node intersections included in the composite node intersection, and for each single-node intersection, determining the single node connected to it based on the corresponding road network data. At least two roads at the intersection, so that multiple roads included in the composite node intersection can be obtained.
  • a road is a line segment without width.
  • the computer device For each road, the computer device obtains the corresponding road information, determines the road width corresponding to each road based on the road information, widens each road according to its respective road width, and obtains the road surface of the road.
  • the road surface of the road includes the left edge of the road surface and the right edge of the road surface.
  • the road surface is represented by three line segments: the original set of data points (link), the point string data and representation of the left edge of the road surface. Point string data of the right edge of the road surface.
  • the computer device obtains the intersection surface of each single-node intersection in the multi-node intersection.
  • the intersection surface of the single-node intersection is a set of data points.
  • the set of data points can form a closed polygon.
  • the computer device obtains the intersection face of each single-node intersection according to the intersection face of each single-node intersection.
  • the shape points included in the surface are calculated, and the minimum convex polygon surrounding these shape points is calculated to obtain the surrounding surface of the composite node intersection.
  • the intersection surface of the composite node intersection is essentially a set of data points. This set of numbers Strongholds can form closed polygons.
  • the computer device determines the road surface edge of each road included in the road surface of the composite node intersection, based on the intersection of the point string data representing the road surface edge and the point string data representing the boundary line of the surrounding surface of the composite node intersection, Determine the clipping point set formed by the clipping points on the surrounding surface, and sort the clipping points according to the order of these clipping points on the boundary line of the surrounding surface, thereby determining every two adjacent clipping points in the clipping point set. Furthermore, for the clipping points on the surrounding surface, the computer device uses straight lines to connect two adjacent clipping points located on the road surface edge lines of the same road, and uses smooth curves to connect two adjacent clipping points located on the road surface edge lines of different roads. The clipping point is used to obtain the final intersection surface.
  • computer equipment can store point string data representing intersection surfaces of single-node intersections, point string data representing intersection surfaces of composite node intersections, etc. in advance in the map database as needed for these areas. Supplemented with high-precision map data for rendering display of high-precision maps of these areas.
  • the map application on the terminal or vehicle-mounted terminal can directly access the
  • the point string data representing the intersection surface of the composite node intersection is pulled from the map database, and based on the pulled point string data, a high-precision map navigation screen of the current location is efficiently rendered and displayed.
  • embodiments of the present application also provide an intersection surface generation device for implementing the above-mentioned intersection surface generation method.
  • the solution to the problem provided by this device is similar to the solution described in the above method. Therefore, the specific limitations in the embodiments of the device for generating one or more intersection surfaces provided below can be found in the above section on the generation of intersection surfaces. The limitations of the method will not be repeated here.
  • an intersection surface generation device 2100 including: a determination module 2102, a road surface generation module 2104, a single-node intersection surface generation module 2106, a surrounding surface generation module 2108 and an integration module.
  • Module 2110 which:
  • the determination module 2102 is used to determine a composite node intersection, where the composite node intersection includes at least two single-node intersections;
  • the road surface generation module 2104 is used to obtain the road surface of the composite node intersection based on the intersection information of the composite node intersection;
  • the single-node intersection surface generation module 2106 is used to determine the intersection surface of each single-node intersection in at least two single-node intersections;
  • the enclosing surface generation module 2108 is used to generate the enclosing surface of the composite node intersection based on the intersection surface of each single-node intersection;
  • the integration module 2110 is used to integrate the surrounding surface into the road surface to obtain the intersection surface of the composite node intersection.
  • the determination module 2102 is also configured to determine that the at least two single-node intersections form a composite node intersection identifier corresponding to the road network data of at least two single-node intersections when their respective road network data include the same composite node intersection identifier. Composite node intersection.
  • the road surface generation module 2104 is also used to obtain the road network data of each single-node intersection included in the composite node intersection; and determine at least two roads connected to each single-node intersection according to the road network data. , obtain multiple roads included in the composite node intersection; for each road, obtain the corresponding road information, which includes at least one of road grade, lane number, and lane width; determine the road width corresponding to each road based on the road information , widen each road according to its own road width, and obtain the road surface of the road; according to the road surface of each road, obtain the road surface of the composite node intersection.
  • the single-node intersection surface generation module 2106 is also used to determine, for each single-node intersection, at least two roads connected to the single-node intersection; obtain constraints and objective functions; where the objective function is used to indicate The goal is to solve the area size of the intersection surface of a single-node intersection.
  • the constraints are used to indicate the limits of the area size.
  • the constraints include the constraint relationship between the offset variables of each of the two adjacent roads in at least two roads.
  • the goal includes at least two offset variables, each offset variable is used to indicate the distance between a single-node intersection and the tangent line of the corresponding road; the objective function is modified according to the road surface width of each of the at least two roads and the constraints. Solve to obtain the offset distance of the road; generate the intersection surface of the single-node intersection based on the road surface width and the offset distance of the road.
  • the single-node intersection surface generation module 2106 is also used to determine the angle between each two adjacent roads based on the road surface width of each two adjacent roads and the offset variable of the corresponding road. Information; among them, the angle information is used to indicate the intersection between the corresponding tangents of two adjacent roads; constraint conditions are constructed based on the angle information between each two adjacent roads.
  • the single-node intersection surface generation module 2106 is also used to obtain the angle between the first road and the second road.
  • the first road and the second road are adjacent roads among at least two roads; obtain The first included angle between the first road and the right edge of the road surface of the first road, and the second included angle between the second road and the left edge of the road surface of the second road, and the road surface of the first road.
  • the third angle between the right edge and the left edge of the road surface of the second road based on the angle between the first road and the second road, and the first, second and third angles Build constraints.
  • the enclosing surface generation module 2108 is also used to obtain a first shape point set based on the shape points included in the intersection surface of each single-node intersection; and calculate the enclosing first shape point set based on the first shape point set.
  • the smallest convex polygon of all shape points in the set is used to obtain the surrounding surface of the composite node intersection.
  • the integration module 2110 is also used to determine the road surface edge lines of each road included in the road surface of the composite node intersection; determine the intersection point of the boundary line of the surrounding surface of the composite node intersection and the road surface edge line, and obtain the surrounding The set of clipping points formed by the clipping points of the surface; determine every two adjacent clipping points in the clipping point set; perform smoothing processing between each two adjacent clipping points on the surrounding surface to obtain the intersection surface of the composite node intersection. .
  • the integration module 2110 is also used to determine a second set of shape points formed by the shape points of the surrounding surface.
  • the shape points exist in sequence; for each clipping point in the clipping point set, calculate the position of the clipping point in the th Two left adjacent shapes shape point and the right adjacent shape point; for each clipping point in the clipping point set, sort the corresponding target shape points in the order, and determine the target shape of each two adjacent clipping points in the clipping point set according to the sorting results.
  • the point is the left neighbor shape point or the right neighbor shape point.
  • the smooth curve is a Bezier curve.
  • the integration module 2110 is also used to move two adjacent clipping points along the road surface edge where the clipping point is located, to a single point connected to the road surface edge. The direction of the node intersection is extended to obtain two control points; a Bezier curve is generated based on the two adjacent clipping points and the two control points.
  • Each module in the above-mentioned intersection surface generation device 2100 can be implemented in whole or in part by software, hardware, and combinations thereof.
  • Each of the above modules may be embedded in or independent of the processor of the computer device in the form of hardware, or may be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.
  • intersection surface generation device 2100 only needs to obtain the road surface of the composite node intersection based on the intersection information of the composite node intersection for a composite node intersection that includes at least two single-node intersections.
  • the intersection surface of the composite node intersection is generated, and then the surrounding surface is cut into the road surface, and the intersection surface of the composite node intersection can be obtained, which can be simple and efficient while relying on less original data.
  • High-quality generation of enveloping surfaces without the need to introduce complex calculation strategies to avoid extreme situations, and with strong robustness.
  • a computer device is provided.
  • the computer device may be the server 104 shown in FIG. 1 , and its internal structure diagram may be shown in FIG. 22 .
  • the computer device includes a processor, a memory, an input/output interface (Input/Output, referred to as I/O), and a communication interface.
  • the processor, memory and input/output interface are connected through the system bus, and the communication interface is connected to the system bus through the input/output interface.
  • the processor of the computer device is used to provide computing and control capabilities.
  • the memory of the computer device includes non-volatile storage media and internal memory.
  • the non-volatile storage medium stores an operating system, computer-readable storage instructions and a database.
  • This internal memory provides an environment for the execution of an operating system and computer-readable storage instructions in a non-volatile storage medium.
  • the computer device's database is used to store road network data.
  • the input/output interface of the computer device is used to exchange information between the processor and external devices.
  • the communication interface of the computer device is used to communicate with an external terminal through a network connection.
  • the computer-readable storage instructions when executed by the processor, implement a method for generating an intersection surface.
  • Figure 22 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied.
  • Specific computer equipment can May include more or fewer parts than shown, or combine certain parts, or have a different arrangement of parts.
  • a computer device including a memory and a processor.
  • Computer-readable storage instructions are stored in the memory.
  • the processor executes the computer-readable storage instructions, any one or more embodiments of the present application are provided. The steps of the intersection surface generation method.
  • a computer-readable storage medium is provided, with computer-readable storage instructions stored thereon.
  • the intersection surface provided by any one or more embodiments of the present application is implemented. The steps of the generation method.
  • a computer program product which includes computer-readable storage instructions.
  • the computer-readable storage instructions When executed by a processor, implement the intersection surface generation method provided by any one or more embodiments of the present application. A step of.
  • the user information including but not limited to user equipment information, user personal information, etc.
  • data including but not limited to data used for analysis, stored data, displayed data, etc.
  • the computer-readable storage instructions can be stored in a non-volatile memory.
  • the computer-readable storage instructions when executed, may include the processes of the above method embodiments. Any reference to memory, database or other media used in the embodiments provided in this application may include at least one of non-volatile and volatile memory.
  • Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetic variable memory (Magnetoresistive Random Access Memory (MRAM), ferroelectric memory (Ferroelectric Random Access Memory, FRAM), phase change memory (Phase Change Memory, PCM), graphene memory, etc.
  • Volatile memory may include random access memory (Random Access Memory, RAM) or external cache memory, etc.
  • RAM Random Access Memory
  • RAM random access memory
  • RAM Random Access Memory
  • the databases involved in the various embodiments provided in this application may include at least one of a relational database and a non-relational database.
  • Non-relational databases may include blockchain-based distributed databases, etc., but are not limited thereto.
  • the processors involved in the various embodiments provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to this.

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Abstract

一种路口面的生成方法，包括：根据路网数据确定复合节点路口，复合节点路口包括至少两个单节点路口(202)；根据复合节点路口的路口信息，获得复合节点路口的道路面(204)；分别确定至少两个单节点路口中每个单节点路口的路口面(206)；根据各单节点路口的路口面，生成复合节点路口的包围面(208)；将包围面整合进道路面，得到复合节点路口的路口面(210)。

Description

路口面的生成方法、装置、设备、存储介质和程序产品
本申请要求于2022年08月19日提交中国专利局，申请号为2022109988209，申请名称为“路口面的生成方法、装置、设备、存储介质和程序产品”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及互联网技术领域，特别是涉及一种路口面的生成方法、装置、计算机设备、存储介质和计算机程序产品。
背景技术
随着计算机技术与互联网技术的快速发展，车道级高精度地图、普通地图、城市道路模型等用于模拟城市道路状况的虚拟地图产品层出不穷，为人们的日常出行带来了便利。
在一些情况下，需要使用原始的路网数据生成道路元素，尤其是在部分地区高精度地图数据缺失的情况下，需要依据普通地图生成一些道路元素，从而在没有高精度地图数据的地方获得近似于高精度地图的效果。对于缺乏高精度地图数据的地区，路口面是生成虚拟地图所需要的道路元素之一。
目前，生成复合节点路口的路口面，不仅需要道路形态和道路拓扑数据，还需要路径指示信息，而路径指示信息采集的成本较高，且具有一定的时效性，且覆盖的范围也比较有限。也就是，相关技术中不仅需要依赖的原始数据较多，且鲁棒性较差，成本较高，难以大范围、自动化生成复合节点路口的路口面。
发明内容
第一方面，本申请提供了一种路口面的生成方法。所述方法包括：
根据路网数据确定复合节点路口，所述复合节点路口包括至少两个单节点路口；
根据所述复合节点路口的路口信息，获得所述复合节点路口的道路面；
分别确定所述至少两个单节点路口中每个所述单节点路口的路口面；
根据各所述单节点路口的路口面，生成所述复合节点路口的包围面；
将所述包围面整合进所述道路面，得到所述复合节点路口的路口面。
第二方面，本申请还提供了一种路口面的生成装置。所述装置包括：
确定模块，用于根据路网数据确定复合节点路口，所述复合节点路口包括至少两个单节点路口；
道路面生成模块，用于根据所述复合节点路口的路口信息，获得所述复合节点路口的道路面；
单节点路口面生成模块，用于分别确定所述至少两个单节点路口中每个所述单节点路口的路口面；
包围面生成模块，用于根据各所述单节点路口的路口面，生成所述复合节点路口的包围面；
整合模块，用于将所述包围面整合进所述道路面，得到所述复合节点路口的路口面。
第三方面，本申请还提供了一种计算机设备。所述计算机设备包括存储器和处理器，所述存储器存储有计算机可读存储指令，所述处理器执行所述计算机可读存储指令时实现以下步骤：
根据路网数据确定复合节点路口，所述复合节点路口包括至少两个单节点路口；
根据所述复合节点路口的路口信息，获得所述复合节点路口的道路面；
分别确定所述至少两个单节点路口中每个所述单节点路口的路口面；
根据各所述单节点路口的路口面，生成所述复合节点路口的包围面；
将所述包围面整合进所述道路面，得到所述复合节点路口的路口面。
第四方面，本申请还提供了一种计算机可读存储介质。所述计算机可读存储介质，其上存储有计算机可读存储指令，所述计算机可读存储指令被处理器执行时实现以下步骤：
根据路网数据确定复合节点路口，所述复合节点路口包括至少两个单节点路口；
根据所述复合节点路口的路口信息，获得所述复合节点路口的道路面；
分别确定所述至少两个单节点路口中每个所述单节点路口的路口面；
根据各所述单节点路口的路口面，生成所述复合节点路口的包围面；
将所述包围面整合进所述道路面，得到所述复合节点路口的路口面。
第五方面，本申请还提供了一种计算机程序产品。所述计算机程序产品，包括计算机可读存储指令，该计算机可读存储指令被处理器执行时实现以下步骤：
根据路网数据确定复合节点路口，所述复合节点路口包括至少两个单节点路口；
根据所述复合节点路口的路口信息，获得所述复合节点路口的道路面；
分别确定所述至少两个单节点路口中每个所述单节点路口的路口面；
根据各所述单节点路口的路口面，生成所述复合节点路口的包围面；
将所述包围面整合进所述道路面，得到所述复合节点路口的路口面。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为一个实施例中路口面的生成方法的应用环境图；
图2为一个实施例中路口面的生成方法的流程示意图；
图3为一个实施例中单节点路口的示意图；
图4为一个实施例中复合节点路口的示意图；
图5为一个实施例中复合节点路口的道路面的效果示意图；
图6为一个实施例中生成的每个单节点各自的路口面的示意图；
图7为一个实施例中复合节点路口的包围面的示意图；
图8为另一个实施例中复合节点路口的包围面的示意图；
图9为又一个实施例中复合节点路口的包围面的示意图；
图10为一个实施例中包围面与道路面的效果示意图；
图11为一个实施例中包围面上的裁剪点的示意图；
图12为一个实施例中不规则形状的复合节点路口的路口面的示意图；
图13为一个实施例中对包围面上的裁剪点进行重排序的流程图；
图14为一个实施例中平滑连接裁剪点的效果示意图；
图15为一个实施例中贝塞尔曲线平滑连接的示意图；
图16为一个实施例中生成的复合节点路口的路口面的示意图；
图17为一个实施例中单节点路口的道路面的示意图；
图18为一个实施例中道路的切线相交的示意图；
图19为一个实施例中切线间不相交或在切线端点处相交的示意图；
图20为一个具体的实施例中生成包围面的流程示意图；
图21为一个实施例中路口面的生成装置的结构框图；
图22为一个实施例中计算机设备的内部结构图。
具体实施方式
为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。
本申请实施例提供的路口面的生成方法，可以应用于高精度虚拟地图、普通精度地图、城市道路模型等各种虚拟地图产品中，可以用于可视化呈现包括多个路口的道路区域。该路口面的生成方法，可以理解为是对地图原始数据的编译的过程，即作为一个承上启下的环节，对原始地图数据进行加工、处理，生成更紧凑、更易于使用的文件或数据。编译得到的数据可以提供给上层(如地图导航、定位技术、地图渲染等)调用。示例性的，生成的复合节点路口的路口面数据，能够为导航引擎提供路口处的底图数据，增强导航界面的可视化效果，并且还可以为自动驾驶在路口处决策的情况下，或者使用电子地图进行行驶决策时的对象，如驾驶员等提供数据支持，防止车辆行驶超出路口范围，从而降低路口处事故发生的概率，提升自动驾驶的安全性。
本申请提供的生成路口面的方法，可以通过电子地图中的路网数据，生成单节点路口的路口面，以及复合节点路口的道路面、路口面。在一些示例中，也可以利用智能交通系统，以基于路口面的位置信息、轮廓等为驾驶员等驾驶对象提供智能导航路线服务。或者，终端设备也可以利用计算机视觉技术等，以在导航应用页面或者地图页面中更加真实、清晰的展示路口面对应的高精度三维图像。
目前，车道级导航主要使用高精度地图数据(精度为分米级、厘米级)，然而由于高精度地图的覆盖面积比较有限，比如有些城市五环外才有高精度地图数据，五环内是没有 的。为了在没有高精度地图数据的地方获得近似于高精度地图的效果，需要用算法根据标准精度地图(即普通导航地图，精度为10米级)生成一些道路元素，复合节点的路口面数据作为道路元素之一，需要通过原始的路网数据生成。
相关技术中，生成复合节点的路口面的方式，主要缺点是依赖的原始数据较多，除了道路形态和道路拓扑数据之外，还需要路径指示信息(如左转、右转、直行等)，而路径指示信息采集的成本较高，具有一定的时效性，覆盖的范围也比较有限，有些路口甚至无法采集到相应的路径指示信息。这就导致相关技术的鲁棒性较差，即抗干扰性差，很多特殊情况还需要人工介入处理，成本较高，难以大范围全自动化生成复合节点路口的路口面。
基于此，为了解决上述所提及的技术问题，本申请实施例提供了一种路口面的生成方法，对于包括至少两个单节点路口的复合节点路口，只需要根据该复合节点路口的路口信息，获得该复合节点路口的道路面，根据所包括的每个单节点路口的路口面，生成该复合节点路口的包围面，再将该包围面整合进该道路面，就可以得到该复合节点路口的路口面，可以在依赖较少的原始数据的前提下，简单、高效、高质量地生成复合节点路口的路口面，无须引入复杂的计算策略以规避极端情况，鲁棒性强。
本申请实施例提供的路口面的生成方法方法，可以应用于如图1所示的应用环境中。其中，终端102通过网络与服务器104进行通信。数据存储系统可以存储服务器104需要处理的数据，如复合节点路口所包括的多个单节点路口各自的原始路网数据，路网数据包括连接至该单节点路口的道路、道路等级、道路宽度、车道数量等信息，这些路网数据可用于生成复合节点路口的路口面。数据存储系统可以集成在服务器104上，也可以放在云上或其他服务器上。
在一个实施例中，可以由服务器104实施本申请的路口面的生成方法，服务器104确定复合节点路口，复合节点路口包括至少两个单节点路口，根据复合节点路口的路口信息，获得复合节点路口的道路面，分别确定至少两个单节点路口中每个单节点路口的路口面，随后，服务器104根据各单节点路口的路口面，生成复合节点路口的包围面，再将包围面整合进道路面，得到复合节点路口的路口面。在一些实施例中，终端102可以调用服务器104生成的复合节点路口的路口面(路口面的边界线对应点串，即一系列点坐标)，在虚拟地图中渲染展示该路口面。
在一些实施例中，终端102上可以安装并运行有支持地图服务的应用程序，服务器104可以是为该应用程序提供服务的服务器，终端102基于该应用程序与服务器104实现交互。该应用程序可以是地图应用、导航应用、定位应用或者任一支持显示路口的应用程序，例如，交通出行应用、需要调用并显示道路路口的游戏应用等。可以理解，在一些实施例中，也可以由终端生成复合节点的路口面，本申请实施例中不限定生成路口面的执行主体。
其中，终端102可以但不限于是各种个人计算机、笔记本电脑、智能手机、平板电脑、物联网设备和便携式可穿戴设备，物联网设备可为智能音箱、智能电视、智能空调、智能 车载设备等，智能车载设备可以车载导航终端和车载电脑等，便携式可穿戴设备可为智能手表、智能手环、头戴设备等。服务器104可以是独立的物理服务器，也可以是多个物理服务器构成的服务器集群或者分布式系统，还可以是提供云服务、云数据库、云计算、云函数、云存储、网络服务、云通信、中间件服务、域名服务、安全服务、内容分发网络(content delivery network，CDN)、以及大数据和人工智能平台等基础云计算服务的云服务器或服务器集群。
在一个实施例中，如图2所示，提供了一种路口面的生成方法，以该方法应用于图1中的计算机设备(如服务器104)为例进行说明，包括以下步骤：
步骤202，根据路网数据确定复合节点路口，复合节点路口包括至少两个单节点路口。
地图的路网数据是描述错综复杂的道路的数据。路口是至少两条道路交汇形成的道路元素，在地图的路网数据中，路口可以用至少一个节点表示。在普通地图中，道路一般用一条没有宽度的线段(以下称为link)表示，是“线状”道路，每个线段用多个按序排列的离散的位置点表示，一个位置点即一个坐标，如经纬度坐标。至少两条线段(link)交汇形成一个节点，即至少两条线段相交的端点，记为一个节点，该节点表示的是该至少两条线段所指示的道路的交汇所形成的路口。按照包含的节点的个数，路口可以分为单节点路口和复合节点路口。单节点路口指单个节点所表示的路口，复合节点路口指多个节点所表示的路口，即“大路口”。
如图3所示，为一个实施例中单节点路口的示意图。如图3所示，在该单节点路口中，道路1(link1)至道路4(link4)这4条道路汇合在一起形成一个单节点路口A中。
如图4所示，为一个实施例中复合节点路口的示意图。如图4所示，在该复合节点路口中，包括四个单节点路口，每个单节点路口也由4条道路汇合在一起，各自形成一个单节点路口，可见该复合节点路口一共包括12条道路(前文所说的link)。
可以理解的是，每个单节点路口所汇聚的道路的数量是至少两条，可以是3条、4条、6条、10条道路等等，本申请不做具体限定。每个复合节点路口所包括的单节点路口的数量是至少两个，可以是3个、4个、5个等等，本申请不做具体限定。此外，图3、4中示出的单节点路口和复合节点路口，道路之间并非必然是相互垂直的情形，在实际应用中，也可以不是相互垂直的情形，本申请不做具体限定。
计算机设备可以从地图数据中确定待生成路口面的复合节点路口，该复合节点路口可以是高精度地图中高精度数据缺乏的复合节点路口，还可以是普通精度地图中需要生成路口面的复合节点路口。计算机设备可以获取已知的地图路网数据，从地图路网数据中获取每个单节点路口的路网数据，若至少两个单节点路口各自的路网数据中包括同一个复合节点路口标识，则表示该至少两个单节点路口形成同一个复合节点路口，该复合节点路口的路网数据可以由这些单节点路口的路网数据得到，从而计算机设备就可以确定一个复合节点路口。每个单节点路口的路网数据，可以包括连接至该单节点路口的至少两条道路的路网数据，还可以包括所在的复合节点路口的路口标识。每条道路的路网数据，可以包括 一串坐标数据(点串)，也就是形成该道路的一连串的离散的位置点，还可以包括所连接至的单节点路口的路口标识，还可以包括该道路的道路属性，如道路宽度、道路等级、道路名称、道路车道数等等。
步骤204，根据复合节点路口的路口信息，获得复合节点路口的道路面。
复合节点路口的路口信息，包括该复合节点所包括的单节点路口的路口信息，比如该复合节点路口包括了哪些单节点路口，复合节点路口的路口信息还包括所包括的每个单节点路口的路口信息，每个单节点路口的路口信息又包括：连接至该单节点路口的道路的道路信息，道路信息包括但不限于道路等级、车道数量等等。道路面是将复合节点路口所包括的“线状”道路进行拓宽得到的“面状”道路，其本质是道路的两条道路边线数据，也即可以根据道路的两条道路边线来描绘道路的道路面。
对于待生成路口面的复合节点路口，计算机设备可以获取相应的路口信息，从而确定该复合节点路口所包括的单节点路口、每个单节点路口所汇聚的道路以及每条道路的道路信息等等。为了得到复合节点路口的路口面，计算机设备需要先生成复合节点路口的道路面，而该道路面根据该复合节点路口所包括的每条道路的道路面生成。复合节点路口的道路面可以是所包括的每条道路的道路面所形成的集合。
前文提到，地图原始的路网数据中，每条道路通常是用一条没有宽度的线段表示，是“线状”道路，为了生成复合节点路口的道路面，计算机设备需要将该没有宽度的线段拓宽成具有一定宽度的道路面。拓宽的依据可以是该道路的道路信息，如道路等级、车道数量等等，车道等级例如是主干道路、次干道路、支干道路等，车道等级例如还可以是一级公路、二级公路、三级公路、四级公路等。不同道路信息的道路，对应不同的拓宽宽度，计算机设备按该道路宽度将每条道路拓宽成相应的道路面。在一些实施例中，道路的道路信息可以直接包括相应的道路宽度，计算机设备按该道路宽度将每条道路拓宽成相应的道路面。在一些实施例中，每条道路的道路宽度也可以取相同的值。可以理解，每条道路被拓宽后形成的道路面，均包括道路面左侧边线与道路面右侧边线。用于拓宽道路的道路宽度，可以是一侧的道路宽度，也可以是左右两侧共同的道路宽度，两侧各自的道路宽度可以相同，也可以不同。
在一个实施例中，步骤204包括：获取复合节点路口所包括的每个单节点路口各自的路网数据；根据路网数据确定连接至每个单节点路口的至少两条道路，得到复合节点路口所包括的多条道路；对于每条道路，获取相应的道路信息，道路信息包括道路等级、车道数量和车道宽度中的至少一种；根据道路信息确定各道路对应的道路宽度，按拓各自的道路宽度拓宽各道路，得到道路的道路面；根据每条道路的道路面，得到复合节点路口的道路面。
本实施例中，只需要基于复合节点路口所包括的道路的道路信息，就可以将一个没有宽度的道路拓宽，得到相应的道路面，从而简单、高效地生成复合节点路口的道路面，无需依赖其它额外的数据或复杂策略。
如图5所示，为一个实施例中复合节点路口的道路面的效果示意图。参照图5，依据如图4所示的复合节点路口所包括的每条道路(link)的道路属性信息，将每条道路按相应的道路宽度向两侧拓宽后，形成复合节点路口的道路面。
步骤206，分别确定至少两个单节点路口中每个单节点路口的路口面。
前文提到，每个单节点路口是至少两条线段(link)交汇形成的一个节点，该节点即表示一个单节点路口，可见，单节点路口是一个“点状”数据。为了得到复合节点路口的路口面，计算机设备需要先生成该复合节点路口所包括的每个单节点路口的路口面，将“点状”数据扩展为“面状”数据。本申请实施例对于生成每个单节点路口的路口面的方式或具体算法，不作限制。
例如，在一些实施例中，在得到复合节点的道路面之后，对于其中每个单节点路口的道路面，计算机设备可以从每个单节点路口沿着每条道路的道路面向外延伸一定的偏置距离得到与道路面的垂直线(也叫道路面的切线)，将每条道路的道路面上的垂直线连接起来，形成一个封闭形状，作为该单节点路口的路口面。
例如，在一些实施例中，计算机设备还可以确定该切线与道路面两侧边线的交点，根据每条道路的道路面上的交点，确定一个最小凸多边形，作为该单节点路口的路口面。
在上述方式中，偏置距离是指定的，一些情况下可能导致路口面的形状出现异常而不能贴合实际情况。为此，为保证每个单节点的路口面的形状贴合实际情况，能够真实反映路口的真实情况，计算机设备可以对连接至该单节点路口的每条道路的切线进行约束，即：①切线与道路面垂直；②切线之间互不相交或仅在切线端点处相交。此外，在满足上述约束条件的前提下下，还可以约束该单节点路口的路口面的区域面积尽量小。计算机设备可以采用任意算法或策略以实现上述约束条件，从而保证单节点的路口面的形状贴合实际情况，本申请实施例对此不作限制。具体的实施例将在后文进行详细说明。
如图6所示，为一个实施例中生成的复合节点路口中每个单节点各自的路口面的示意图。参照图6，对于如图4所示的复合节点路口所包括的4个单节点，计算机设备分别生成每个单节点各自的路口面。
步骤208，根据各单节点路口的路口面，生成复合节点路口的包围面。
其中，包围面是复合节点路口的路口面边线形成的闭合形状，路口面边线是一连串有序、离散的位置点表示，这些离散、有序的位置点可用于描绘出复合节点路口的路口面边线。具体地，在得到复合节点路口所包括的每个单节点路口的路口面之后，计算机设备根据每个单节点路口的路口面生成一个包围面，该包围面能够包围上述的每个单节点路口的路口面。示例性的，该包围面是包围上述的每个单节点路口的路口面的最小面积的凸包，即凸包路口面。示例性的，该包围面是包围上述每个单节点路口的路口面的最小面积的凸包，且该凸包的每条边界线垂直于相应的道路面。示例性的，该包围面是上述每个单节点路口的路口面的所有形状点形成的最大不规则图形。该包围面的本质是一个连续、有序、能够形成闭合形状的数据点串。
在一个实施例中，根据各单节点路口的路口面，生成复合节点路口的包围面，包括：根据每个单节点路口的路口面所包括的形状点，得到第一形状点集合；根据第一形状点集合，计算包围第一形状点集合中所有形状点的最小凸多边形，作为复合节点路口的包围面。
其中，如前文所描述的，每个单节点路口的路口面是一个封闭形状，该封闭形状由若干个形状点形成，可以理解，形状点是形成该封闭形状的边界线上的折点。计算机设备在确定复合节点路口所包括的每个单节点路口的路口面之后，收集每个单节点路口的路口面的形状点，得到第一形状点集合，随后，计算机设备计算包围第一形状点集合中所有形状点的最小凸多边形，将该最小凸多边形作为复合节点路口的包围面。
如图7所示，为一个实施例中复合节点路口的包围面的示意图。参照图7，该复合节点路口包括4个单节点路口，包括这4个单节点路口的所有形状点的最小凸多边形，作为该复合节点路口的包围面。
在一个实施例中，若期望最终生成的复合节点路口的路口面的每条边界线均与道路面垂直，计算机设备还可以将该最小凸多边形向外填充，使每条边界线均与每条道路的道路面垂直，得到复合节点路口的包围面。在得到该包围面之后，再基于该包围面，执行后续的将该包围面整合进复合节点路口的道路面，得到复合节点路口的路口面的步骤。如图8所示，为一个实施例中复合节点路口的包围面的示意图，该包围面对应的每条边界线均与每条道路的道路面垂直。
在一些实施例中，计算机设备可以根据各单节点路口的路口面的形状点，确定一个这些形状点所能形成的最大不规则图形，作为该复合节点路口的包围面，再基于该包围面，执行后续的将该包围面整合进复合节点路口的道路面，得到复合节点路口的路口面的步骤。如图9所示，为另一个实施例中复合节点路口的包围面的示意图，该包围面是不规则图形，且形状较为异常。
上述实施例，基于将所包括的单节点路口的路口面进行包围的方式，通用性强，具备普适性，能够简单、高效地生成复合节点路口的路口面的初步形态，无需依赖其它额外的数据或复杂策略。
步骤210，将包围面整合进道路面，得到复合节点路口的路口面。
本实施例中，为了得到更贴合路口实际状况的路口面，计算机设备利用复合节点路口所对应道路的道路面，对该包围面进行更进一步的处理，即将包围面整合进道路面，得到复合节点路口的路口面。具体地，计算机设备可以对该包围面进行进一步的“裁剪”，使路口的边界线更加准确、平滑、自然，从而得到最终的贴合道路实际路况的复合节点路口的路口面。因此，本申请实施例中的“裁剪”，是指在上述步骤得到的复合节点路口的包围面的基础上，进行更进一步的处理，以得到贴合道路实际路况的包围面，可作为该复合节点路口的路口面。当然，在一些实施例中，计算机设备也可以直接将上一步骤208得到的包围面作为对该复合节点路口生成的路口面。
如图10所示，为一个实施例中包围面与道路面的效果示意图。可以看出，当前的包 围面与复合节点路口所包括的多条道路不是特别匹配，该包围面超出了道路面的范围，导致生成的路口面不够准确。
为此，计算机设备可以对该包围面进行更进一步的裁剪。
计算机设备可以先确定裁剪点，本实施例中，裁剪点可以是复合节点路口的包围面对应的边界线与该复合节点所包括的道路的道路面边线的交点。如图11所示，为一个实施例中包围面对应的边界线上的裁剪点的示意图。参照图11，图中的白色小圆点即为裁剪点。
在一个实施例中，步骤210可以是：确定复合节点路口的道路面所包括的每条道路的道路面边线，确定复合节点路口的包围面的边界线与道路面边线的交点，得到包围面的裁剪点所形成的裁剪点集合，确定裁剪点集合中每两个相邻的裁剪点，使用直线连接每两个相邻的裁剪点，得到复合节点路口的路口面。如图12所示，为一个实施例中不规则形状的复合节点路口的路口面的示意图。
在一个实施例中，步骤210还可以是：确定复合节点路口的道路面所包括的每条道路的道路面边线，确定复合节点路口的包围面对应的边界线与道路面边线的交点，得到包围面的裁剪点所形成的裁剪点集合，确定裁剪点集合中每两个相邻的裁剪点，在包围面上每两个相邻的裁剪点之间进行平滑处理，得到复合节点路口的路口面。
其中，复合节点路口的道路面所包括的每条道路的道路面边线，包括每条道路的道路面左侧边线与道路面右侧边线，复合节点路口的包围面对应的边界线也是该包围面的包围线。计算机设备根据表示该包围线的点串与表示每条道路的道路面边线的点串的交集，就可以确定包围面的裁剪点所形成的裁剪点集合，记为trimPoints。
包围面上每两个相邻的裁剪点，所谓的相邻是指该两个裁剪点在包围面的边界线上的先后顺序是相邻的。为了对两个相邻裁剪点之间做平滑过渡，需要确定裁剪点的先后顺序，通过对裁剪点进行重排序，从而确定该裁剪点集合中每两个相邻的裁剪点。
在一个实施例中，确定裁剪点集合中每两个相邻的裁剪点，包括：确定包围面的形状点所形成的第二形状点集合，形状点存在先后顺序；对于裁剪点集合中的每个裁剪点，计算裁剪点在第二左邻形状点与右邻形状点；对于裁剪点集合中的每个裁剪点，按相应的目标形状点的先后顺序进行排序，根据排序结果确定裁剪点集合中每两个相邻的裁剪点，目标形状点为左邻形状点或右邻形状点。
包围面是一个封闭形状，该封闭形状由若干个形状点形成，包围面的形状点是形成该包围面对应的边界线上的折点，如图10所示的A、B、C等。这些折点在该边界线上存在先后顺序，该先后顺序可以是以某个折点为起始点形成的顺时针顺序，也可以是以某个折点为起始点形成的逆时针顺序。这些形状点所形成的第二形状点集合，可以记为basePoints。
对于裁剪点集合中的每个裁剪点point，计算机设备确定每个裁剪点在第二形状点集合中的左邻形状点p1与右邻形状点p2，也即是裁剪点point位于第二形状点集合中哪两 个相邻点(p1，p2)之间，从而可以按照p1在包围面对应的边界线上的先后顺序(可以由索引index确定)或p2在包围面对应的边界线上的先后顺序，对裁剪点point进行重排序。
如图13所示，为一个实施例中对包围面上的裁剪点进行重排序的流程图。参照图13，裁剪点重排序步骤包括：
步骤1302，确定裁剪点集合trimPoints与第二形状点集合basePoints。
步骤1304，对于trimPoints中的每个裁剪点point，确定裁剪点point位于第二形状点集合中哪两个相邻点(p1，p2)之间，其中p1或p2在包围面的边界线上的索引记为index。
可以理解，确定裁剪点point位于第二形状点集合中哪两个相邻点(p1，p2)之间，随后，可以统一按p1在包围面的边界线上的索引index得到裁剪点的二元组，也可以统一按p2在包围面的边界线上的索引index得到裁剪点的二元组。两个裁剪点point对应的index可能是一致的，若一致，则比较这两个点与该索引所对应的形状点basePoints(index)的距离再排序，若不一致，则直接比较index的大小，按index的大小进行排序。
步骤1306，将裁剪点point记录为二元组(point，index)。
步骤1308，对于trimPoints中的每个裁剪点point，按索引index进行排序，得到重排序后的裁剪点序列。
例如，若第二形状点集合basePoints中每个形状点按顺时针的方向，从小到大确定相应的索引index，统一按p1在包围面的边界线上的索引index从小到大的顺序进行排序，那么若两个裁剪点point对应的index一致，则其中与该索引所对应的形状点basePoints(index)的距离更近的裁剪点排序在后，距离越远的裁剪点排序在前。
计算机设备得到重排序后的裁剪点序列之后，就可以确定裁剪点集合中每两个相邻的裁剪点。
在一个实施例中，在包围面上每两个相邻的裁剪点之间进行平滑处理，包括：当两个相邻的裁剪点位于包围面的同一道路的道路面边线上时，使用直线连接两个相邻的裁剪点；当两个相邻的裁剪点位于包围面的不同道路的道路面边线上时，使用平滑曲线连接两个相邻的裁剪点。
如图14所示，为一个实施例中平滑连接裁剪点的效果示意图。参照图14,图14中，相邻的裁剪点M、N位于包围面的同一道路的两条道路面边线上，则直接用直线连接裁剪点M、N；相邻的裁剪点P、Q位于包围面的不同道路的两条道路面边线上，则使用平滑曲线连接裁剪点P、Q。
在一个实施例中，平滑曲线为贝塞尔曲线，两个相邻的裁剪点之间的贝塞尔曲线的生成步骤包括：将两个相邻的裁剪点，分别沿着裁剪点所在的道路面边线，向道路面边线所连接至的单节点路口的方向延长，得到两个控制点；根据两个相邻的裁剪点与两个控制点， 生成贝塞尔曲线。
本申请实施例中，对于位于包围面的不同道路的道路面边线上的两个相邻的裁剪点，确定了两个控制点，根据两个相邻的裁剪点与两个控制点，生成的是四阶贝塞尔曲线，可以保证贝塞尔曲线与该两个相邻的裁剪点所在的道路面边线相切，从而得到更好的平滑过渡效果。在一些实施例中，也可以在该两个相邻的裁剪点之间，确定一个控制点，根据该一个控制点与两个相邻的裁剪点，生成三阶贝塞尔曲线，还可以是在该两个相邻的裁剪点之间，确定三个控制点，根据该三个控制点与两个相邻的裁剪点，生成五阶贝塞尔曲线，
如图15所示，为一个实施例中贝塞尔曲线平滑连接的示意图。参照图15，道路面边线1是道路1(link1)的道路面的一侧边线，道路面边线2是道路2(link2)的道路面的一侧边线。P1和P2分别是复合道路面与道路面边线1和道路面边线2相交的裁剪点。计算机设备通过以下方式计算P1和P2之间的贝塞尔曲线，此处以四阶贝塞尔曲线为例，除了P1和P2点之外，还需要计算额外两个控制点。计算方法如下：从P1开始沿着道路面边线1指向所连接至的单节点路口的方向，以一个距离d1计算得到点P11，从P2开始沿着道路面边线2指向所连接至的单节点路口的方向，以一个距离d2计算得到点P22。随后，计算机设备可以根据裁剪点P1和P2、控制点P11和P22，计算P1与P2之间的贝塞尔曲线对应的点串，使用该点串平滑连接P1与P2。
如图16所示，为一个实施例中生成的复合节点路口的路口面的示意图。参照图16，图中封闭不规则图形即为最终生成的复合节点路口的路口面，计算机设备可以将该路口面的边界线对应的点串与该复合节点路口的路口标识对应存储，作为该复合节点路口的属性数据，以供其它应用程序或接口在展示、渲染该复合节点路口时快捷使用。
下面详细介绍复合节点路口所包括的每个单节点路口的路口面的生成方式。
在一个实施例中，步骤206，分别确定至少两个单节点路口中每个单节点路口的路口面，包括：对于每个单节点路口，确定连接至单节点路口的至少两条道路；获取约束条件和目标函数；其中，目标函数用于指示单节点路口的路口面的区域大小的求解目标，约束条件用于指示区域大小的限制条件，约束条件包括至少两条道路中每两条相邻的道路的偏置变量之间的约束关系，目标函数包括至少两个偏置变量，每个偏置变量用于指示单节点路口到对应的道路的切线之间的距离情况；根据至少两条道路中各道路的道路面宽度以及约束条件对目标函数进行求解，得到道路的偏置距离；基于道路的道路面宽度和道路的偏置距离生成单节点路口的路口面。
如图17所示，为一个实施例中单节点路口的道路面的示意图。针对连接至单节点路口A的4条道路(即link1至link4)，每一条道路都可以拓宽成具有一定宽度的道路面。譬如，针对link1，其对应的道路面宽度信息由该link1的左侧子道路面的道路面宽度信息(即lw1)、和link1的右侧子道路面的道路面宽度信息(即rw1)构成。针对link2，其对应的道路面宽度信息也由该link2的左侧子道路面的道路面宽度信息(即lw2)、和link2的右侧子道路面的道路面宽度信息(即rw2)构成。同样地，针对link3的道路面 宽度信息和link4的道路面宽度信息，其具体也可以参照link1、link2的道路面宽度信息进行理解。
针对每条道路，若每条道路各自对应的切线出现相交的情况，则会导致所要生成的该单节点路口的路口面的形状异常，无法准确地反映真实的路口面。因此，若欲想路口面的形状未出现异常情况，那么就需要保证每条道路各自对应的切线不相交。每条道路会与其对应的切线垂直，切线的位置可以用切线与link的交点到该单节点路口的距离来表示。
将切线与link的交点到该单节点路口的距离，称作为本申请实施例后续所描述的偏置距离，每条道路对应的切线之间是否相交，依赖于每条道路的偏置距离。道路的偏置距离太小，则会导致相应的切线之间在会切线的中间部分相交，从而导致路口面形状异常。
举例来说，图18示出了本申请实施例提供的道路的切线相交示意图。如图18所示，link1的切线(即L1)与link2的切线(即L2)相交，而该L1与L2相交会受限于link1的偏置变量(即w1)的取值、以及相邻的link2的偏置变量(即w2)的取值。同样地，L2与link3的切线(即L3)相交，也会受限于w2的取值、以及相邻的link3的偏置变量(即w3)的取值。针对L3与link4的切线(即L4)相交的情况、L4与L1相交的情况，也可以参照L1与L2相交，或者L2与L3相交的情形进行理解，此处不做具体赘述。应理解，图18示出的道路的切线相交仅以4条link都相交为例进行说明，在实际应用中，也可能仅出现其中2条或者3条link相交的情况，具体本申请不做限定。另外，所提及的偏置变量可以用来指示出单节点路口到对应的道路的切线之间的距离情况，例如，w1可以用来指示出单节点路口A到link1的切线L1之间的距离情况。在偏置变量赋予具体的取值时，可以称为偏置距离。
基于此，w1的取值会影响到相邻的w2的取值，w2的取值会影响到相邻的w3的取值，w3的取值会影响到相邻的w4的取值，w4的取值会影响到相邻的w1的取值。同样地，w1的取值会影响到相邻的w4的取值，w4的取值会影响到相邻的w3的取值，w3的取值会影响到相邻的w2的取值，w2的取值会影响到相邻的w1的取值。显然，不论是采用顺时针对同一个单节点路口的4条link进行排序，还是采用逆时针对这4条进行排序，偏置变量w1、w2、w3、w4之间的耦合关系是相互约束的，因此，本申请实施例中可以采用数学最优化的方法处理这种耦合关系，即将各条道路的偏置变量之间的约束关系变成优化问题的约束方程。
计算机设备可以基于每两条相邻的道路的偏置变量之间的约束关系来构建该约束条件，确定每条道路的偏置变量w的取值，能够使得各自对应道路的切线L之间不相交或仅在端点处相交。每两条相邻的道路的偏置变量之间的约束关系，可以通过每两条相邻的道路之间的夹角信息来构建得到。示例性地，计算机设备可以根据每两条相邻的道路的道路面宽度信息和对应的道路的偏置变量确定每两条相邻的道路之间的夹角信息，然后根据每两条相邻的道路之间的夹角信息构建约束条件。
构建约束条件可以采用如下方式来实现，即：每条道路的道路面均包括道路面左侧边 线和道路面右侧边线，计算机设备可以获取第一道路与第二道路之间的夹角，第一道路与第二道路为至少两条道路中相邻的道路；获取第一道路与第一道路的道路面右侧边线之间的第一夹角，以及第二道路与第二道路的道路面左侧边线之间的第二夹角，以及第一道路的道路面右侧边线与第二道路的道路面左侧边线之间的第三夹角；基于第一道路与第二道路之间的夹角，以及第一夹角、第二夹角和第三夹角构建约束条件。
以图19示出的右上角示意图为例，图19中的link1可以理解成第一道路，link2可以理解成第二道路，该link1与link2相邻，且连接至单接口路口A点。切线L1与link1的道路面右侧边线的交点为P1，切线L2与link2的道路面左侧边线的交点为P2。以A点为原点，可以通过该link1的道路形状点的坐标和link2的道路形状点的坐标，进而计算得到该link1和link2之间的夹角，即α12。同样地，以A点为原点，通过计算link1与P1A之间的角度，即可得到第一夹角，即α1。示例性地，由于切线L1垂直于link1，而且该link1的右侧子道路面的道路面宽度为rw 1，因此可以通过反正切函数对该link1的右侧子道路面的道路面宽度为rw1和link1的偏置变量w1进行处理，求得通过计算link2与P2A之间的角度，即可得到第二夹角，即α2。示例性地，由于切线L2垂直于link2，而且该link2的左侧子道路面的道路面宽度为lw2，因此同样可以通过反正切函数对该link2的左侧子道路面的道路面宽度为lw2和2的偏置变量w2进行处理，进而求得
为保证L1和L2不相交或者仅在端点处相交，夹角α1和α2应当满足：
α1+α2+min a1≤α12，即：
其中，min a1为夹角P1AP2的最小值，即link1的道路面右侧边线与link2的道路面左侧边线之间的夹角。另外，a1≥0。此即为一个约束条件。若连接至单节点路口A有n(n＞1)条道路，则会构建得到n个约束条件。
在满足前述所描述的约束条件的前提下，希望所生成的单节点路口的路口面尽可能小，此时可以将该单节点路口的路口面的区域大小作为目标函数，该区域大小可以通过上述所构建得到的约束条件进行限制。需说明，该目标函数包括至少两个偏置变量，每个偏置变量之间的约束关系可以参照前述构建的约束条件进行理解。换句话说，该路口面的区域大小会受到连接至该单节点路口的道路的偏置变量的取值影响。因此，可以将单节点路口所关联的道路的偏置变量w的取值大小表征，作为该单节点路口的路口面的区域大小的 表征。例如，针对图19中的单节点路口A，在以偏置变量w的平方之和作为该路口面的区域大小的表征的情形下，该路口面的区域大小可以表示成：V＝w12+w22+w32+w42，其中，w1、w2、w3、w4为对应的link1、link2、link3、link4的偏置变量。路口面的区域大小的表征除了使用偏置变量的平方之和来表示之外，在实际应用中，还可能使用偏置变量的立方之和、N(N≥2)次方之和、绝对值之和等方式来表示，本申请实施例中不做具体限定。
这样，便可以构建出关于该路口面的区域大小的目标函数，即minV＝w12+w22+w32+w42。构建得到约束条件以及获取到目标函数后，可以根据该道路的道路面宽度信息和约束条件对该目标函数进行求解计算，进而计算出该目标函数中每个偏置变量的具体取值，即得到每条道路的偏置距离。
在该约束条件和道路的道路面宽度信息下，能够基于内点法等预设约束优化模型对该目标函数进行求解。示例性地，在获取到每条道路的道路面宽度信息(包括左侧子道路面的道路面宽度信息和右侧子道路面的道路面宽度信息)之后，可以通过该预设约束优化模型对每条道路的道路面宽度信息进行处理，进而得到每条道路的偏置变量的具体取值，即得到每条道路的偏置距离的最优解。在计算得到每条道路的偏置距离之后，能够基于每条道路的道路面宽度信息和对应道路的偏置距离，生成该单节点路口的路口面。
上述生成单节点路口的路口面的方式，仅需要基于相邻道路的偏置变量之间的约束关系构建约束条件，并结合道路的道路面宽度信息来计算道路的偏置距离，无需依赖于复杂的纯几何算法，从而可以高效地生成路口节点的路口面。
如图20所示，为一个具体的实施例中生成包围面的流程示意图。该方法可以由计算机设备执行，参照图20，包括以下步骤：
步骤2002，当至少两个单节点路口各自的路网数据中，包括相同的复合节点路口标识时，确定至少两个单节点路口形成复合节点路口标识对应的复合节点路口；
步骤2004，获取复合节点路口所包括的每个单节点路口各自的路网数据；
步骤2006，根据路网数据确定连接至每个单节点路口的至少两条道路，得到复合节点路口所包括的多条道路；
步骤2008，对于每条道路，获取相应的道路信息，道路信息包括道路等级、车道数量和车道宽度中的至少一种；根据道路信息确定各道路对应的道路宽度，按各自的道路宽度拓宽各道路，得到道路的道路面；
步骤2010，根据每条道路的道路面，得到复合节点路口的道路面；
步骤2012，分别确定至少两个单节点路口中每个单节点路口的路口面；
步骤2014，根据每个单节点路口的路口面所包括的形状点，得到第一形状点集合；
步骤2016，根据第一形状点集合，计算包围第一形状点集合中所有形状点的最小凸多边形，得到复合节点路口的包围面；
步骤2018，确定复合节点路口的道路面所包括的每条道路的道路面边线；
步骤2020，确定复合节点路口的包围面的边界线与道路面边线的交点，得到包围面的裁剪点所形成的裁剪点集合；
步骤2022，确定包围面的形状点所形成的第二形状点集合，形状点存在先后顺序；
步骤2024，对于裁剪点集合中的每个裁剪点，计算裁剪点在第二左邻形状点与右邻形状点；
步骤2026，对于裁剪点集合中的每个裁剪点，按相应的目标形状点的先后顺序进行排序，根据排序结果确定裁剪点集合中每两个相邻的裁剪点，目标形状点为左邻形状点或右邻形状点；
步骤2028，当两个相邻的裁剪点位于包围面的同一道路的道路面边线上时，使用直线连接两个相邻的裁剪点；
步骤2030，当两个相邻的裁剪点位于包围面的不同道路的道路面边线上时，使用平滑曲线连接两个相邻的裁剪点；
步骤2032，根据连接后的裁剪点，得到复合节点路口的路口面。
其中，步骤2030中的使用平滑曲线连接两个相邻的裁剪点，可以包括：将两个相邻的裁剪点，分别沿着裁剪点所在的道路面边线，向道路面边线所连接至的单节点路口的方向延长，得到两个控制点；根据两个相邻的裁剪点与两个控制点，生成贝塞尔曲线，使用贝塞尔曲线连接两个相邻的裁剪点。
其中，步骤2012中每个单节点路口的路口面的生成步骤可以包括：对于每个单节点路口，确定连接至单节点路口的至少两条道路；根据每两条相邻的道路的道路面宽度和对应的道路的偏置变量确定每两条相邻的道路之间的夹角信息；其中，夹角信息用于指示相邻的两条道路各自对应的切线之间的相交情况；获取第一道路与第二道路之间的夹角，第一道路与第二道路为至少两条道路中相邻的道路；获取第一道路与第一道路的道路面右侧边线之间的第一夹角，以及第二道路与第二道路的道路面左侧边线之间的第二夹角，以及第一道路的道路面右侧边线与第二道路的道路面左侧边线之间的第三夹角；基于第一道路与第二道路之间的夹角，以及第一夹角、第二夹角和第三夹角构建约束条件；获取目标函数；其中，目标函数用于指示单节点路口的路口面的区域大小的求解目标，约束条件用于指示区域大小的限制条件，约束条件包括至少两条道路中每两条相邻的道路的偏置变量之间的约束关系，目标函数包括至少两个偏置变量，每个偏置变量用于指示单节点路口到对应的道路的切线之间的距离情况；根据至少两条道路中各道路的道路面宽度以及约束条件对目标函数进行求解，得到道路的偏置距离；基于道路的道路面宽度和道路的偏置距离生成单节点路口的路口面。
上述路口面的生成方法，对于包括至少两个单节点路口的复合节点路口，只需要根据该复合节点路口的路口信息，获得该复合节点路口的道路面，根据所包括的每个单节点路口的路口面，生成该复合节点路口的包围面，再将该包围面裁剪进该道路面，就可以得到该复合节点路口的路口面，可以在依赖较少的原始数据的前提下，简单、高效、高质量生 成包围面，无须引入复杂的计算策略规避极端情况，鲁棒性强。
本申请实施例提供的路口面的生成方法，可以应用到任一需要依据原始路网数据生成复合节点路口的路口面的场景中，例如，在高精度地图中，若某些地区缺乏相应的高精度数据，可以使用普通地图数据采用本申请实施例提供的路口面的生成方法，为这些地区的复合节点路口生成相应的路口面。又例如，可以在仅依赖于原始普通地图数据的情况下，高效地生成复合节点路口的路口面，而无需依赖其它路径指示信息。再例如，生成的复合节点路口的路口面，可供地图应用调用后，直接根据该路口面的点串数据渲染、显示该路口面。还例如，在涉及城市道路模型的游戏应用，可直接根据城市道路模型中路口面的点串数据渲染显示相应的游戏画面。当然，可应用场景不局限于此。
下面以一个场景详细说明：
在高精度地图中，某些地区缺乏相应的高精度数据，可以基于普通地图数据采用本申请实施例提供的路口面的生成方法，克服在上述地区无法渲染显示高精度地图的路口面的问题。
计算机设备可以事先找出地图中那些缺乏高精度地图的地区，如某个城市5环以内的地区，继而获取这些地区中道路各自原始的、用于生成普通地图的路网数据，普通地图的路网数据中，道路是一条没有宽度的线段，即用一组数据点(link)表示道路，该一组数据点也称点串。道路的路网数据中还包括道路信息。若多条道路的路网数据中包括相同的单点路口标识，则该多条道路形成一个单节点路口。对于每个单节点路口，计算机设备可以生成单节点路口的路口面，生成路口面是为了生成路的形状点坐标，单节点路口的路口面实质用一组数据点表示，每个数据点是一个坐标，该一组数据点可以形成封闭多边形。对于这些地区中的单节点路口，计算机设备均可以生成相应的路口面。生成路口面主要就是为了生成路口面边界的形状点坐标。在高精度地图中，这些边界的形状点坐标一般是在上游提供的原始数据中直接给出的。
若多个单节点路口的路网数据中包括相同的复合节点路口标识，则该多个单节点路口形成一个复合节点路口。对于这样的复合节点路口，计算机设备可以生成相应的路口面，具体包括：确定复合节点路口所包括的多个单节点路口，对于每个单节点路口，根据相应的路网数据确定连接至单节点路口的至少两条道路，这样，就可以得到复合节点路口所包括的多条道路。前文提到，道路是一条没有宽度的线段，对于每条道路，计算机设备获取相应的道路信息，根据道路信息确定各道路对应的道路宽度，按各自的道路宽度拓宽各道路，得到道路的道路面，道路的道路面均包括道路面左侧边线和道路面右侧边线，这样，道路面用三条线段表示：原始的一组数据点(link)、表示道路面左侧边线的点串数据与表示道路面右侧边线的点串数据。接着，计算机设备获取复节点路口中每个单节点路口的路口面，单节点路口的路口面是一组数据点，该一组数据点可以形成封闭多边形，计算机设备根据每个单节点路口的路口面所包括的形状点，计算包围这些形状点的最小凸多边形，得到复合节点路口的包围面，该复合节点路口的路口面实质是一组数据点，该一组数 据点可以形成封闭多边形。随后，计算机设备确定复合节点路口的道路面所包括的每条道路的道路面边线，根据表示该道路面边线的点串数据与表示复合节点路口的包围面的边界线的点串数据的交集，确定包围面上的裁剪点所形成的裁剪点集合，按这些裁剪点在包围面的边界线上的顺序，对这些裁剪点进行排序，从而确定裁剪点集合中每两个相邻的裁剪点。进而，对于该包围面上的裁剪点，计算机设备使用直线连接位于同一道路的道路面边线上的两个相邻的裁剪点，使用平滑曲线连接位于不同道路的道路面边线上的两个相邻的裁剪点，得到最终的路口面。
对于上述缺乏高精度数据的地区，计算机设备可以将表示单节点路口的路口面的点串数据、表示复合节点路口的路口面的点串数据等，事先存储在地图数据库中，作为这些地区所需的高精度地图数据的补充，以供渲染显示这些地区的高精度地图。
这样，在地图导航过程中，当定位到终端或车辆当前移动至上述地区的某个复合节点路口附近、需要显示该复合节点路口的路口面时，终端或车载终端上的地图应用就可以直接从地图数据库中拉取表示该复合节点路口的路口面的点串数据，根据拉取的点串数据，高效地渲染并显示当前位置的高精度地图导航画面。
应该理解的是，虽然如上的各实施例所涉及的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，如上的各实施例所涉及的流程图中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。
基于同样的发明构思，本申请实施例还提供了一种用于实现上述所涉及的路口面的生成方法的路口面的生成装置。该装置所提供的解决问题的实现方案与上述方法中所记载的实现方案相似，故下面所提供的一个或多个路口面的生成装置实施例中的具体限定可以参见上文中对于路口面的生成方法的限定，在此不再赘述。
在一个实施例中，如图21所示，提供了一种路口面的生成装置2100，包括：确定模块2102、道路面生成模块2104、单节点路口面生成模块2106、包围面生成模块2108和整合模块2110，其中：
确定模块2102，用于确定复合节点路口，复合节点路口包括至少两个单节点路口；
道路面生成模块2104，用于根据复合节点路口的路口信息，获得复合节点路口的道路面；
单节点路口面生成模块2106，用于分别确定至少两个单节点路口中每个单节点路口的路口面；
包围面生成模块2108，用于根据各单节点路口的路口面，生成复合节点路口的包围面；
整合模块2110，用于将包围面整合进道路面，得到复合节点路口的路口面。
在一个实施例中，确定模块2102，还用于当至少两个单节点路口各自的路网数据中，包括相同的复合节点路口标识时，确定至少两个单节点路口形成复合节点路口标识对应的复合节点路口。
在一个实施例中，道路面生成模块2104，还用于获取复合节点路口所包括的每个单节点路口各自的路网数据；根据路网数据确定连接至每个单节点路口的至少两条道路，得到复合节点路口所包括的多条道路；对于每条道路，获取相应的道路信息，道路信息包括道路等级、车道数量和车道宽度中的至少一种；根据道路信息确定各道路对应的道路宽度，按拓各自的道路宽度拓宽各道路，得到道路的道路面；根据每条道路的道路面，得到复合节点路口的道路面。
在一个实施例中，单节点路口面生成模块2106，还用于对于每个单节点路口，确定连接至单节点路口的至少两条道路；获取约束条件和目标函数；其中，目标函数用于指示单节点路口的路口面的区域大小的求解目标，约束条件用于指示区域大小的限制条件，约束条件包括至少两条道路中每两条相邻的道路的偏置变量之间的约束关系，目标函数包括至少两个偏置变量，每个偏置变量用于指示单节点路口到对应的道路的切线之间的距离情况；根据至少两条道路中各道路的道路面宽度以及约束条件对目标函数进行求解，得到道路的偏置距离；基于道路的道路面宽度和道路的偏置距离生成单节点路口的路口面。
在一个实施例中，单节点路口面生成模块2106，还用于根据每两条相邻的道路的道路面宽度和对应的道路的偏置变量确定每两条相邻的道路之间的夹角信息；其中，夹角信息用于指示相邻的两条道路各自对应的切线之间的相交情况；根据每两条相邻的道路之间的夹角信息构建约束条件。
在一个实施例中，单节点路口面生成模块2106，还用于获取第一道路与第二道路之间的夹角，第一道路与第二道路为至少两条道路中相邻的道路；获取第一道路与第一道路的道路面右侧边线之间的第一夹角，以及第二道路与第二道路的道路面左侧边线之间的第二夹角，以及第一道路的道路面右侧边线与第二道路的道路面左侧边线之间的第三夹角；基于第一道路与第二道路之间的夹角，以及第一夹角、第二夹角和第三夹角构建约束条件。
在一个实施例中，包围面生成模块2108，还用于根据每个单节点路口的路口面所包括的形状点，得到第一形状点集合；根据第一形状点集合，计算包围第一形状点集合中所有形状点的最小凸多边形，得到复合节点路口的包围面。
在一个实施例中，整合模块2110，还用于确定复合节点路口的道路面所包括的每条道路的道路面边线；确定复合节点路口的包围面的边界线与道路面边线的交点，得到包围面的裁剪点所形成的裁剪点集合；确定裁剪点集合中每两个相邻的裁剪点；在包围面上每两个相邻的裁剪点之间进行平滑处理，得到复合节点路口的路口面。
在一个实施例中，整合模块2110，还用于确定包围面的形状点所形成的第二形状点集合，形状点存在先后顺序；对于裁剪点集合中的每个裁剪点，计算裁剪点在第二左邻形 状点与右邻形状点；对于裁剪点集合中的每个裁剪点，按相应的目标形状点的先后顺序进行排序，根据排序结果确定裁剪点集合中每两个相邻的裁剪点，目标形状点为左邻形状点或右邻形状点。
在一个实施例中，平滑曲线为贝塞尔曲线，整合模块2110，还用于将两个相邻的裁剪点，分别沿着裁剪点所在的道路面边线，向道路面边线所连接至的单节点路口的方向延长，得到两个控制点；根据两个相邻的裁剪点与两个控制点，生成贝塞尔曲线。
上述路口面的生成装置2100中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于计算机设备中的处理器中，也可以以软件形式存储于计算机设备中的存储器中，以便于处理器调用执行以上各个模块对应的操作。
上述路口面的生成装置2100，对于包括至少两个单节点路口的复合节点路口，只需要根据该复合节点路口的路口信息，获得该复合节点路口的道路面，根据所包括的每个单节点路口的路口面，生成该复合节点路口的包围面，再将该包围面裁剪进该道路面，就可以得到该复合节点路口的路口面，可以在依赖较少的原始数据的前提下，简单、高效、高质量生成包围面，无须引入复杂的计算策略规避极端情况，鲁棒性强。
在一个实施例中，提供了一种计算机设备，该计算机设备可以是图1所示的服务器104，其内部结构图可以如图22所示。该计算机设备包括处理器、存储器、输入/输出接口(Input/Output，简称I/O)和通信接口。其中，处理器、存储器和输入/输出接口通过系统总线连接，通信接口通过输入/输出接口连接到系统总线。其中，该计算机设备的处理器用于提供计算和控制能力。该计算机设备的存储器包括非易失性存储介质和内存储器。该非易失性存储介质存储有操作系统、计算机可读存储指令和数据库。该内存储器为非易失性存储介质中的操作系统和计算机可读存储指令的运行提供环境。该计算机设备的数据库用于存储路网数据。该计算机设备的输入/输出接口用于处理器与外部设备之间交换信息。该计算机设备的通信接口用于与外部的终端通过网络连接通信。该计算机可读存储指令被处理器执行时以实现一种路口面的生成方法。
本领域技术人员可以理解，图22中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的计算机设备的限定，具体的计算机设备可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。
在一个实施例中，提供了一种计算机设备，包括存储器和处理器，存储器中存储有计算机可读存储指令，该处理器执行计算机可读存储指令时实现本申请任一个或多个实施例提供的路口面的生成方法的步骤。
在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机可读存储指令，计算机可读存储指令被处理器执行时实现本申请任一个或多个实施例提供的路口面的生成方法的步骤。
在一个实施例中，提供了一种计算机程序产品，包括计算机可读存储指令，该计算机可读存储指令被处理器执行时实现本申请任一个或多个实施例提供的路口面的生成方法 的步骤。
需要说明的是，本申请所涉及的用户信息(包括但不限于用户设备信息、用户个人信息等)和数据(包括但不限于用于分析的数据、存储的数据、展示的数据等)，均为经用户授权或者经过各方充分授权的信息和数据，且相关数据的收集、使用和处理需要遵守相关国家和地区的相关法律法规和标准。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机可读存储指令来指令相关的硬件来完成，所述的计算机可读存储指令可存储于一非易失性计算机可读取存储介质中，该计算机可读存储指令在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存、光存储器、高密度嵌入式非易失性存储器、阻变存储器(ReRAM)、磁变存储器(Magnetoresistive Random Access Memory，MRAM)、铁电存储器(Ferroelectric Random Access Memory，FRAM)、相变存储器(Phase Change Memory，PCM)、石墨烯存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器等。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。本申请所提供的各实施例中所涉及的数据库可包括关系型数据库和非关系型数据库中至少一种。非关系型数据库可包括基于区块链的分布式数据库等，不限于此。本申请所提供的各实施例中所涉及的处理器可为通用处理器、中央处理器、图形处理器、数字信号处理器、可编程逻辑器、基于量子计算的数据处理逻辑器等，不限于此。
以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种路口面的生成方法，由计算机设备执行，所述方法包括：
    根据路网数据确定复合节点路口，所述复合节点路口包括至少两个单节点路口；
    根据所述复合节点路口的路口信息，获得所述复合节点路口的道路面；
    分别确定所述至少两个单节点路口中每个所述单节点路口的路口面；
    根据各所述单节点路口的路口面，生成所述复合节点路口的包围面；
    将所述包围面整合进所述道路面，得到所述复合节点路口的路口面。
  2. 根据权利要求1所述的方法，其特征在于，所述确定复合节点路口包括：
    获取每个单节点路口的路网数据；
    若至少两个单节点路口各自的路网数据中包括同一复合节点路口标识，则
    确定所述至少两个单节点路口形成所述复合节点路口。
  3. 根据权利要求1或2所述的方法，其特征在于，所述根据所述复合节点路口的路口信息，获得所述复合节点路口的道路面，包括：
    获取所述复合节点路口所包括的每个单节点路口各自的路网数据；
    根据所述路网数据确定连接至每个所述单节点路口的至少两条道路，得到所述复合节点路口所包括的多条道路；
    对于每条道路，获取相应的道路信息，所述道路信息包括道路等级、车道数量和车道宽度中的至少一种；根据所述道路信息确定各所述道路对应的道路宽度，按拓各自的道路宽度拓宽各所述道路，得到所述道路的道路面；
    根据每条所述道路的道路面，得到所述复合节点路口的道路面。
  4. 根据权利要求1至3任一项所述的方法，其特征在于，所述分别确定所述至少两个单节点路口中每个所述单节点路口的路口面，包括：
    对于每个单节点路口，确定连接至所述单节点路口的至少两条道路；
    获取约束条件和目标函数；其中，所述目标函数用于指示所述单节点路口的路口面的区域大小的求解目标，所述约束条件用于指示所述区域大小的限制条件，所述约束条件包括所述至少两条道路中每两条相邻的所述道路的偏置变量之间的约束关系，所述目标函数包括至少两个所述偏置变量，每个所述偏置变量用于指示所述单节点路口到对应的道路的切线之间的距离情况；
    根据所述至少两条道路中各所述道路的道路面宽度以及所述约束条件对所述目标函数进行求解，得到所述道路的偏置距离；
    基于所述道路的道路面宽度和所述道路的偏置距离生成所述单节点路口的路口面。
  5. 根据权利要求1至4任一项所述的方法，其特征在于，所述获取约束条件，包括：
    根据每两条相邻的所述道路的道路面宽度和对应的道路的偏置变量确定所述每两条相邻的道路之间的夹角信息；其中，所述夹角信息用于指示相邻的两条所述道路各自对应的切线之间的相交情况；
    根据所述每两条相邻的道路之间的夹角信息构建约束条件。
  6. 根据权利要求5所述的方法，其特征在于，每条所述道路的道路面均包括道路面左侧边线和道路面右侧边线，所述根据所述每两条相邻的道路之间的夹角信息构建约束条件，包括：
    获取第一道路与第二道路之间的夹角，所述第一道路与所述第二道路为所述至少两条道路中相邻的道路；
    获取所述第一道路与所述第一道路的道路面右侧边线之间的第一夹角，以及所述第二道路与所述第二道路的道路面左侧边线之间的第二夹角，以及所述第一道路的道路面右侧边线与所述第二道路的道路面左侧边线之间的第三夹角；
    基于所述第一道路与第二道路之间的夹角，以及所述第一夹角、所述第二夹角和所述第三夹角构建约束条件。
  7. 根据权利要求1至6任一项所述的方法，其特征在于，所述根据各所述单节点路口的路口面，生成所述复合节点路口的包围面，包括：
    根据每个所述单节点路口的路口面所包括的形状点，得到第一形状点集合；
    根据所述第一形状点集合，计算包围所述第一形状点集合中所有形状点的最小凸多边形，得到所述复合节点路口的包围面。
  8. 根据权利要求1至7任一项所述的方法，其特征在于，所述将所述包围面整合进所述道路面，得到所述复合节点路口的路口面，包括：
    确定所述复合节点路口的道路面所包括的每条道路的道路面边线；
    确定所述复合节点路口的包围面的边界线与所述道路面边线的交点，得到所述包围面的裁剪点所形成的裁剪点集合；
    确定所述裁剪点集合中每两个相邻的所述裁剪点；
    在所述包围面上所述每两个相邻的所述裁剪点之间进行平滑处理，得到所述复合节点路口的路口面。
  9. 根据权利要求8所述的方法，其特征在于，所述确定所述裁剪点集合中每两个相邻的所述裁剪点，包括：
    确定所述包围面的形状点所形成的第二形状点集合，所述形状点存在先后顺序；
    对于所述裁剪点集合中的每个裁剪点，计算所述裁剪点在所述第二左邻形状点与右邻形状点；
    对于所述裁剪点集合中的每个裁剪点，按相应的目标形状点的先后顺序进行排序，根据排序结果确定所述裁剪点集合中每两个相邻的所述裁剪点，所述目标形状点为左邻形状点或右邻形状点。
  10. 根据权利要求8所述的方法，其特征在于，所述在所述包围面上所述每两个相邻的所述裁剪点之间进行平滑处理，包括：
    当两个相邻的所述裁剪点位于所述包围面的同一道路的道路面边线上时，使用直线连 接所述两个相邻的所述裁剪点；
    当两个相邻的所述裁剪点位于所述包围面的不同道路的道路面边线上时，使用平滑曲线连接所述两个相邻的所述裁剪点。
  11. 根据权利要求10所述的方法，其特征在于，所述平滑曲线为贝塞尔曲线，所述两个相邻的所述裁剪点之间的贝塞尔曲线的生成步骤包括：
    将所述两个相邻的所述裁剪点，分别沿着所述裁剪点所在的道路面边线，向所述道路面边线所连接至的所述单节点路口的方向延长，得到两个控制点；
    根据所述两个相邻的所述裁剪点与所述两个控制点，生成所述贝塞尔曲线。
  12. 一种路口面的生成装置，所述装置包括：
    确定模块，用于根据路网数据确定复合节点路口，所述复合节点路口包括至少两个单节点路口；
    道路面生成模块，用于根据所述复合节点路口的路口信息，获得所述复合节点路口的道路面；
    单节点路口面生成模块，用于分别确定所述至少两个单节点路口中每个所述单节点路口的路口面；
    包围面生成模块，用于根据各所述单节点路口的路口面，生成所述复合节点路口的包围面；
    整合模块，用于将所述包围面整合进所述道路面，得到所述复合节点路口的路口面。
  13. 根据权利要求12所述的装置，其特征在于，所述道路面生成模块，还用于获取所述复合节点路口所包括的每个单节点路口各自的路网数据；根据所述路网数据确定连接至每个所述单节点路口的至少两条道路，得到所述复合节点路口所包括的多条道路；对于每条道路，获取相应的道路信息，所述道路信息包括道路等级、车道数量和车道宽度中的至少一种；根据所述道路信息确定各所述道路对应的道路宽度，按拓各自的道路宽度拓宽各所述道路，得到所述道路的道路面；根据每条所述道路的道路面，得到所述复合节点路口的道路面。
  14. 根据权利要求12或13所述的装置，其特征在于，所述包围面生成模块，还用于根据每个所述单节点路口的路口面所包括的形状点，得到第一形状点集合；根据所述第一形状点集合，计算包围所述第一形状点集合中所有形状点的最小凸多边形，得到所述复合节点路口的包围面。
  15. 根据权利要求12至14中任一项所述的装置，其特征在于，所述整合模块，还用于确定所述复合节点路口的道路面所包括的每条道路的道路面边线；确定所述复合节点路口的包围面的边界线与所述道路面边线的交点，得到所述包围面的裁剪点所形成的裁剪点集合；确定所述裁剪点集合中每两个相邻的所述裁剪点；在所述包围面上所述每两个相邻的所述裁剪点之间进行平滑处理，得到所述复合节点路口的路口面。
  16. 根据权利要求15所述的装置，其特征在于，所述整合模块，还用于确定所述包 围面的形状点所形成的第二形状点集合，所述形状点存在先后顺序；对于所述裁剪点集合中的每个裁剪点，计算所述裁剪点在所述第二左邻形状点与右邻形状点；对于所述裁剪点集合中的每个裁剪点，按相应的目标形状点的先后顺序进行排序，根据排序结果确定所述裁剪点集合中每两个相邻的所述裁剪点，所述目标形状点为左邻形状点或右邻形状点。
  17. 根据权利要求15所述的装置，其特征在于，所述整合模块，还用于当两个相邻的所述裁剪点位于所述包围面的同一道路的道路面边线上时，使用直线连接所述两个相邻的所述裁剪点；当两个相邻的所述裁剪点位于所述包围面的不同道路的道路面边线上时，使用平滑曲线连接所述两个相邻的所述裁剪点。
  18. 一种计算机设备，包括存储器和处理器，所述存储器存储有计算机可读存储指令，所述处理器执行所述计算机可读存储指令时实现权利要求1至11中任一项所述的方法的步骤。
  19. 一种计算机可读存储介质，其上存储有计算机可读存储指令，所述计算机可读存储指令被处理器执行时实现权利要求1至11中任一项所述的方法的步骤。
  20. 一种计算机程序产品，包括计算机可读存储指令，该计算机可读存储指令被处理器执行时实现权利要求1至11中任一项所述的方法的步骤。
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