CN113205570A

CN113205570A - Electronic map-based electronic zebra crossing generation method and device

Info

Publication number: CN113205570A
Application number: CN202110480401.1A
Authority: CN
Inventors: 蔺甜甜
Original assignee: Apollo Zhilian Beijing Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2021-08-03
Anticipated expiration: 2041-04-30
Also published as: CN113205570B

Abstract

The application discloses a method and a device for generating an electronic zebra crossing based on an electronic map, and relates to intelligent transportation and vehicle-road cooperation in artificial intelligence. The specific implementation scheme is as follows: according to the data source of the electronic map, generating an initial zebra crossing of the physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map, acquiring a chartlet corresponding to the physical zebra crossing, determining relative position information of each physical point forming the physical zebra crossing in the bounding box according to the data source, rendering the initial zebra crossing in the electronic map according to the relative position information and the chartlet corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

Description

Electronic map-based electronic zebra crossing generation method and device

Technical Field

The application relates to intelligent transportation and vehicle-road cooperation in artificial intelligence, in particular to a method and a device for generating an electronic zebra crossing based on an electronic map.

Background

With the development of unmanned driving technology in Artificial Intelligence (AI), Electronic maps (Electronic maps) are widely used, and how to generate zebra stripes is an urgent problem to be solved because the Electronic maps usually include the zebra stripes.

In the prior art, a commonly used method for generating zebra stripes includes: and acquiring a data source of the electronic map, wherein the data source comprises coordinate information corresponding to the physical zebra crossing, determining a corresponding line according to the coordinate information, and rendering the corresponding line to generate the electronic zebra crossing in the electronic map.

However, by generating the electronic zebra crossing according to the coordinate information, the dimension of the content of the electronic zebra crossing representation is relatively single, so that the generated electronic zebra crossing lacks diversity and integrity, and the electronic zebra crossing visualization degree is relatively low.

Disclosure of Invention

The application provides a method and a device for generating an electronic zebra crossing based on an electronic map, which are used for improving visualization of the electronic zebra crossing.

According to a first aspect of the present application, there is provided a method for generating an electronic zebra crossing based on an electronic map, including:

generating an initial zebra crossing of a physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to an acquired data source of the electronic map, wherein the data source comprises data information for manufacturing the electronic map, and the bounding box is used for indicating a bounding space of the physical zebra crossing;

acquiring a mapping corresponding to the physical zebra crossing, and determining the relative position information of each physical point forming the physical zebra crossing in the bounding box according to the data source;

and rendering the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

According to a second aspect of the present application, there is provided an electronic zebra crossing generation device based on an electronic map, including:

the generating unit is used for generating an initial zebra crossing of a physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to an acquired data source of the electronic map, wherein the data source comprises data information used for manufacturing the electronic map, and the bounding box is used for indicating a bounding space of the physical zebra crossing;

the first obtaining unit is used for obtaining a mapping corresponding to the physical zebra crossing;

the first determining unit is used for determining the relative position information of each physical point forming the physical zebra crossing in the bounding box according to the data source;

and the rendering unit is used for rendering the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

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

at least one processor; and

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

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of the first aspect.

According to a fourth aspect of the present application, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of the first aspect.

According to a fifth aspect of the present application, there is provided a computer program product comprising: a computer program, stored in a readable storage medium, from which at least one processor of an electronic device can read the computer program, execution of the computer program by the at least one processor causing the electronic device to perform the method of the first aspect.

According to a sixth aspect of the present application, there is provided a roadside apparatus including the electronic apparatus according to the third aspect.

According to a seventh aspect of the present application, a cloud control platform is provided, which includes the electronic device according to the third aspect.

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

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1 is a schematic diagram according to a first embodiment of the present application;

fig. 2 is a schematic view of an electronic zebra crossing in the related art;

FIG. 3 is a schematic diagram of an electronic zebra crossing according to an embodiment of the present application;

FIG. 4 is a schematic illustration according to a second embodiment of the present application;

FIG. 5 is a schematic illustration according to a third embodiment of the present application;

fig. 6 is a scene diagram of a method for generating an electronic zebra crossing based on an electronic map, which can implement an embodiment of the present application;

FIG. 7 is a schematic illustration according to a fourth embodiment of the present application;

FIG. 8 is a schematic illustration according to a fifth embodiment of the present application;

FIG. 9 is a schematic illustration according to a sixth embodiment of the present application;

FIG. 10 is a schematic illustration according to a seventh embodiment of the present application;

FIG. 11 is a schematic illustration according to an eighth embodiment of the present application;

FIG. 12 is a schematic illustration according to a ninth embodiment of the present application;

fig. 13 is a block diagram of an electronic device for implementing the method for generating an electronic zebra crossing based on an electronic map according to the embodiment of the present application.

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

With the development of unmanned technology, electronic maps are widely used. The electronic map may include different elements, such as traffic lights, signs, speed-limiting boards, zebra crossings, and the like, and accordingly, when the electronic map is constructed, various elements, such as zebra crossings, in the electronic map need to be constructed.

In order to distinguish the zebra crossings on the road from the zebra crossings in the electronic map, the zebra crossings on the road may be referred to as physical zebra crossings, and the zebra crossings in the electronic map may be referred to as electronic zebra crossings.

The zebra crossing on the road is a zebra crossing in an actual road scene, or can be understood as a zebra crossing in a physical coordinate system, or can be understood as a zebra crossing in a world coordinate system.

The zebra crossing in the electronic map can be understood as a zebra crossing in an electronic map coordinate system, and the electronic map coordinate system can be a three-dimensional coordinate system or a two-dimensional coordinate system. For example, if the electronic map is a three-dimensional electronic map, the electronic map coordinate system is a three-dimensional coordinate system; if the electronic map is a plane electronic map, the electronic map coordinate system is a two-dimensional coordinate system.

Generally, in order to produce an electronic map, data information (i.e., a data source) for producing the electronic map may be generally acquired, and the data information may be generally coordinate information of physical points for producing the electronic map.

Accordingly, in the related art, a commonly employed method for generating an electronic zebra crossing includes: and drawing corresponding lines according to the coordinate information of the physical zebra crossing in a preset electronic map coordinate system, and rendering the drawn lines so as to generate the electronic zebra crossing in the electronic map.

However, the electronic zebra crossing is generated according to the coordinate information, so that the electronic zebra crossing can only represent the content of the position dimension, the dimension of the content represented by the electronic zebra crossing is single, the generated electronic zebra crossing is lack of diversity and integrity, and the technical problem that the visualization degree of the electronic zebra crossing is low is caused.

In order to solve at least one of the above technical problems, the inventors of the present application have made creative efforts to obtain the inventive concept of the present application: the method comprises the steps of determining an initial zebra crossing and a bounding box respectively corresponding to a physical zebra crossing according to a data source, determining relative position information of physical points forming the physical zebra crossing in the bounding box, and rendering the initial zebra crossing according to the relative position information and an acquired chartlet corresponding to the physical zebra crossing to obtain an electronic map, so that the electronic zebra crossing can represent contents of multiple dimensions, such as position dimensions, color dimensions, texture dimensions and the like.

In combination with the foregoing analysis of the related art, in order to distinguish the zebra crossing in the actual scene from the zebra crossing in the electronic map, the zebra crossing in the actual scene may be referred to as a physical zebra crossing, and the zebra crossing in the electronic map may be referred to as an electronic zebra crossing, but in the embodiment, an understanding of the physical zebra crossing may refer to an understanding of the physical zebra crossing in the related art, and the initial zebra crossing may be understood as an electronic zebra crossing in the related art, and an electronic zebra crossing in the embodiment based on the inventive concept of the present application may be understood as a zebra crossing which represents contents of multiple dimensions after rendering the initial zebra crossing.

That is, the physical zebra crossing in the present embodiment may be understood as a physical zebra crossing in the related art; the initial zebra crossing in the present embodiment may be understood as an electronic zebra crossing in the related art; the electronic zebra crossing in the embodiment can be understood as a zebra crossing obtained by combining map rendering on the basis of an electronic zebra crossing in the related art.

That is to say, the initial zebra crossing in this embodiment is a zebra crossing that is not rendered in combination with a map, and the electronic zebra crossing is a zebra crossing obtained by combining the map with the initial zebra crossing.

The application provides a method and a device for generating an electronic zebra crossing based on an electronic map, which are applied to intelligent transportation and vehicle-road cooperation in artificial intelligence so as to achieve the technical effect of improving the visualization of the electronic map.

Fig. 1 is a schematic diagram according to a first embodiment of the present application, and as shown in fig. 1, a method for generating an electronic zebra crossing based on an electronic map provided by the embodiment of the present application includes:

s101: and generating an initial zebra crossing of the physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to the acquired data source of the electronic map.

Wherein the data source comprises data information for making an electronic map, and the bounding box is used for indicating the bounding space of the physical zebra crossing

For example, the execution main body of this embodiment may be a generation device of an electronic zebra crossing based on an electronic map (hereinafter, referred to as a generation device for short), the generation device may be a server (including a local server and a cloud server, where the server may be a cloud control platform, a vehicle route cooperative management platform, a central subsystem, an edge computing platform, a cloud computing platform, and the like), may also be a road side device, may also be a terminal device, may also be a processor, may also be a chip, and the like, and this embodiment is not limited.

In a system architecture of intelligent transportation vehicle-road cooperation, the road side equipment comprises road side sensing equipment with a computing function and road side computing equipment connected with the road side sensing equipment, the road side sensing equipment (such as a road side camera) is connected to the road side computing equipment (such as a Road Side Computing Unit (RSCU)), the road side computing equipment is connected to a server, and the server can communicate with an automatic driving vehicle or an auxiliary driving vehicle in various modes; or the roadside sensing device comprises a calculation function, and the roadside sensing device is directly connected to the server. The above connections may be wired or wireless.

In conjunction with the above analysis, the data source may be understood as data information for making an electronic map, such as coordinate information of physical points for making the electronic map; the physical zebra crossing, the initial zebra crossing and the electronic zebra crossing in the following text are relative concepts, the physical zebra crossing is a zebra crossing in an actual road scene, the initial zebra crossing is an unrendered zebra crossing in an electronic map, and the electronic zebra crossing is a rendered zebra crossing.

In some embodiments, the data source may be point cloud data acquired based on a radar system.

The bounding box is a bounding box based on the coordinate system of the electronic map.

S102: and obtaining a mapping corresponding to the physical zebra crossing, and determining the relative position information of each physical point forming the physical zebra crossing in the bounding box according to the data source.

In this embodiment, the method for obtaining the map corresponding to the physical zebra crossing is not limited, for example, the map corresponding to the physical zebra crossing may be obtained in a mapping relationship, specifically:

generating a map corresponding to each physical zebra crossing, wherein the maps can represent contents of multiple dimensions of the physical zebra crossing, such as colors, textures and the like, storing the maps, and constructing a mapping relation between the physical zebra crossing and the maps, such as representing the mapping relation in a key value pair mode, or representing the mapping relation in an index mode, so as to obtain the maps corresponding to the physical zebra crossing according to the mapping relation.

It should be understood that the above example is only used for exemplary illustration, and the method for obtaining the map corresponding to the physical zebra crossing that can be adopted by the present embodiment is not to be construed as a limitation on the method for obtaining the map corresponding to the physical zebra crossing.

The position information of each physical point constituting the physical zebra crossing is position information based on the physical zebra crossing, that is, position information based on a world coordinate system (or referred to as a physical coordinate system), and the bounding box is a bounding box based on an electronic map coordinate system.

S103: and rendering the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

It is worth to say that, in the present embodiment, there are introduced: respectively generating an initial zebra crossing and a bounding box, and further respectively determining relative position information and a map corresponding to a physical zebra crossing, so as to render the initial zebra crossing according to the relative position information and the map corresponding to the physical zebra crossing, thereby obtaining technical characteristics of an electronic zebra crossing representing the physical zebra crossing from multiple dimensions, whereas in the related art, an electronic zebra crossing (such as the electronic zebra crossing shown in fig. 2) is generally generated based on coordinate information, so that the electronic zebra crossing in the related art can generally represent only the content of position information, thereby avoiding the disadvantages that the electronic zebra crossing in the related art is low in richness and less in representation content, whereas in the present embodiment, the electronic zebra crossing (such as the electronic zebra crossing shown in fig. 3) is generated according to the relative position information and the map corresponding to the physical zebra crossing, so that the electronic zebra crossing can represent the content of the dimensions of the position information, the content of color dimensionality and the content of texture dimensionality can be represented, so that the diversity and the integrity of the electronic zebra crossing are improved, the visualization degree of the electronic zebra crossing is improved, and the technical effect that a user and a vehicle can conveniently watch the electronic zebra crossing to drive is achieved.

Fig. 4 is a schematic diagram according to a second embodiment of the present application, and as shown in fig. 4, a method for generating an electronic zebra crossing based on an electronic map provided by the embodiment of the present application includes:

s401: and generating an initial zebra crossing of the physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to the acquired data source of the electronic map.

For example, the description about S401 may refer to S101, which is not described herein again.

S402: and determining a mapping area covered by the relative position information from a preset zebra crossing model.

The zebra crossing model is used for representing a three-dimensional model of a physical zebra crossing.

It should be noted that the relative position information is the relative position information of each physical point, in some embodiments, the map area may be understood as a map area that is covered by the relative position information of each physical point, and in other embodiments, the map area may be understood as a map area that is formed by splicing areas corresponding to the relative position information of each physical point.

S403: and determining the map in the map area as the map corresponding to the physical zebra crossing.

Correspondingly, on the basis of the above embodiment, the map corresponding to the physical zebra crossing may be understood as one map, or may also be understood as a map composed of a plurality of sub-maps, that is, one physical point corresponds to one sub-map, and the sub-maps corresponding to the physical points are spliced to obtain a final map.

It is worth to say that, in this embodiment, the map corresponding to the zebra crossing is determined based on the zebra crossing model, and the zebra crossing model can represent the three-dimensional model of the physical zebra crossing, so that the map corresponding to the zebra crossing is highly associated with the content represented by the physical zebra crossing, and thus the generated electronic zebra crossing can be highly attached to the physical zebra crossing, so that the electronic zebra crossing has high reliability and accuracy, the content of each dimension of the physical zebra crossing can be represented more comprehensively by the electronic zebra crossing, and the technical effect of improving the integrity of the electronic zebra crossing is achieved.

S404: and determining the relative position information of each physical point forming the physical zebra crossing in the bounding box according to the data source.

For example, the description about S404 may refer to the description of determining the relative position information in the first embodiment, and will not be described herein again.

S405: and determining rendering position information of the map corresponding to the physical zebra crossing on the initial zebra crossing according to the relative position information.

As can be seen from the above analysis, the relative position information can be understood as the position information of each physical point in the coordinate system of the electronic map, and therefore, after the relative position information is determined, the rendering position information can be determined according to the relative position information, and the rendering position information can be understood as the information of the position where the map corresponding to the zebra crossing is rendered on the initial zebra crossing.

S406: and rendering the mapping corresponding to the physical zebra crossing on the initial zebra crossing according to the rendering position information to obtain the electronic zebra crossing.

It should be noted that, in this embodiment, the rendering position information is determined based on the relative position information, so that the map corresponding to the physical zebra crossing is rendered on the rendering position information of the initial zebra crossing, and the accuracy and reliability of rendering can be improved.

In some embodiments, S406 may include the steps of:

the first step is as follows: and determining distance information between at least any two adjacent lines in the physical zebra crossing according to the relative position information, and adjusting the size information of the map corresponding to the physical zebra crossing according to the distance information.

Generally, in a zebra crossing, the distance between any two adjacent lines is generally equal, and therefore, in some embodiments, the size information of the map corresponding to the physical zebra crossing may be adjusted according to the distance information between some two adjacent lines, for example, after the distance information between some two adjacent lines is determined, the distance information between other adjacent lines is also determined (because of equal distance, it is equal relationship), so that the size information may be adjusted according to the distance information.

On the contrary, for the case of non-equal distance, the distance information between each two adjacent lines can be respectively determined, and the size information can be adjusted according to the distance information.

The second step is as follows: and rendering the initial zebra crossing in the electronic map based on the rendering position information and the adjusted mapping corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

It is worth to say that, in this embodiment, the electronic zebra crossing is generated based on the rendering position information and the adjusted map corresponding to the physical zebra crossing, so that the electronic zebra crossing and the physical zebra crossing have high conformity, that is, the accuracy and reliability of the electronic zebra crossing can be improved, and the technical effect of visualization of the electronic zebra crossing can be further improved.

Fig. 5 is a schematic diagram according to a third embodiment of the present application, and as shown in fig. 5, a method for generating an electronic zebra crossing based on an electronic map provided by the embodiment of the present application includes:

s501: from a data source, physical location information for physical points that constitute a physical zebra crossing is obtained.

The physical location information may be physical coordinate information, that is, coordinate information in a world coordinate system (or referred to as a physical coordinate system).

S502: and respectively determining an initial zebra crossing and a polygonal area of the physical zebra crossing according to the physical position information.

Wherein the polygonal area represents an area for framing a physical zebra crossing. For the generation of the initial zebra crossing, reference may be made to the first embodiment, or, alternatively, to the second embodiment, which is not described herein again.

Illustratively, the polygonal area may be understood as a rectangular area, and the rectangular area may be determined based on position information of an outermost physical point among the physical points.

S503: and generating a bounding box according to the polygonal area, wherein the bounding box is used for indicating the bounding space of the physical zebra crossing.

It should be noted that, in the present embodiment, by generating the polygon region first to generate the bounding box according to the polygon region, the technical effects of accuracy and reliability of generating the bounding box can be improved.

In some embodiments, S503 may include: generating a bounding box according to the physical coordinate information of the physical points in the polygonal area; alternatively, the first and second electrodes may be,

the longest side of the polygonal region is determined, and a bounding box is generated according to the longest side and a vertical direction perpendicular to the longest side.

That is, the bounding box may be a non-directional bounding box or a directional bounding box.

More specifically, the bounding Box may be an Axis-aligned bounding Box (AABB bounding Box), an Oriented bounding Box (OBB bounding Box), or the like, and the present embodiment is not limited thereto.

It should be noted that, in this embodiment, by using different methods to generate different types of bounding boxes, the technical effect of diversity and flexibility in generating bounding boxes can be improved.

In some embodiments, the bounding box is the bounding space in which the area of the physical point in the polygonal region is the smallest.

In some embodiments, the physical coordinate information includes an abscissa and an ordinate; generating the bounding box from the physical coordinate information of the physical points in the polygon region may include: and determining a minimum abscissa, a maximum abscissa, a minimum ordinate and a maximum ordinate from the physical coordinate information, and generating the bounding box according to the minimum abscissa, the maximum abscissa, the minimum ordinate and the maximum ordinate.

S504: and acquiring a mapping corresponding to the physical zebra crossing.

For example, regarding to the description of S504, reference may be made to a method for acquiring a map corresponding to a physical zebra crossing in the first embodiment or the second embodiment, and this embodiment is not limited.

S505: determining vertex position information of the vertex of the bounding box in a coordinate system of the electronic map, and calculating coordinate conversion information between physical position information of the vertex and the vertex position information.

The vertex of the bounding box can be four corner points of the bounding box, and the vertex position information can be understood as coordinate information of the four corner points in a coordinate system of the electronic map.

It should be understood that, regarding the conversion between the world coordinate system and the electronic map coordinate system, reference may be made to the related art, and details thereof will not be described herein.

S506: and determining the relative position information of the physical points in the polygonal area in the bounding box according to the coordinate conversion information and the physical position information of the physical points in the polygonal area.

After the coordinate conversion information is determined, the position information of the physical point may be converted, that is, the physical position information of the physical point is converted into position information (i.e., relative position information) in the coordinate system of the electronic map, based on the coordinate conversion information and the physical position information.

It should be noted that, in this embodiment, the coordinate conversion information is determined first, and then the relative position information is generated according to the coordinate conversion information, so that the relative position information has the technical effects of high accuracy and reliability.

S507: and rendering the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

For example, regarding the description of S507, reference may be made to the principle of rendering the initial zebra crossing in the first embodiment or the second embodiment to obtain the electronic zebra crossing, and details are not described here again.

S508: and acquiring a route navigation request, wherein the route navigation request comprises initial position information and target position information, and determining a navigation path according to the initial position information and the target position information.

It should be noted that, after the generating device generates the electronic zebra crossing and generates the electronic map, the electronic map may be stored in a server (such as a cloud server, or a local server, such as a local storage by means of offline downloading).

In the application scenario shown in fig. 6, a vehicle 601 travels on a road 602, and a user (such as a driver, not shown) in the vehicle 601 may initiate a route navigation request to a server 603 (which may be a generating device) through an in-vehicle terminal (not shown) in the vehicle 601, and accordingly, the server 603 determines a navigation path according to the route navigation request.

S509: and determining and outputting a partial map corresponding to the navigation path from the electronic map comprising the electronic zebra crossing.

Wherein the partial map corresponding to the navigation path is used for controlling the vehicle to travel.

With reference to the foregoing embodiment, after determining the navigation path, the server 603 may determine a partial map corresponding to the navigation path from an electronic map (which is an electronic map including an electronic zebra crossing), and feed back the determined partial map to the vehicle-mounted terminal, and accordingly, the vehicle-mounted terminal may display the partial map.

It should be noted that, in this embodiment, by outputting the partial map corresponding to the navigation path, when the receiving end (such as the vehicle-mounted terminal in the above embodiments) receives and displays the partial map, the electronic zebra crossing can be distinguished obviously, so that the visualization of the display effect is improved, the requirement experience of the user is met, and the technical effects of safety and reliability of vehicle driving or pedestrian driving are improved.

Fig. 7 is a schematic diagram according to a fourth embodiment of the present application, and as shown in fig. 7, a method for generating an electronic zebra crossing based on an electronic map according to the embodiment of the present application includes:

s701: and acquiring a request message, wherein the request message is used for acquiring the electronic map and carries the request position information.

S702: and generating an initial zebra crossing of the physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to the acquired data source of the electronic map.

The data source comprises data information used for making an electronic map, the bounding box is used for indicating a bounding space of a physical zebra crossing, and the physical zebra crossing is a zebra crossing in a preset position range requesting position information.

For example, regarding the description of S702, reference may be made to the principle of generating the initial zebra crossing and bounding box in any one of the first to third embodiments, and details are not described here.

S703: and obtaining a mapping corresponding to the physical zebra crossing, and determining the relative position information of each physical point forming the physical zebra crossing in the bounding box according to the data source.

For example, regarding the description of S703, reference may be made to the principle of generating the relative position information in any one of the first to third embodiments, and details are not described here again.

S704: and rendering the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

S705: and outputting an electronic map comprising the initial zebra crossing and the electronic zebra crossing according to the requested position information.

In the output electronic map, the zebra crossing located within the preset range of the request position information is an electronic zebra crossing, and the zebra crossing located outside the preset range of the request position information is an initial zebra crossing.

The preset range may be set based on the demand, history, and test of the generating device, and this embodiment is not limited.

In the application scenario shown in fig. 6, after the electronic map is generated, the user may apply for a partial map corresponding to the navigation path of the electronic map, so as to display the partial map based on a receiving end (such as the vehicle-mounted terminal in the above embodiment, of course, the user equipment, such as a mobile terminal, may also be a mobile phone, and the like), in an embodiment, the generating device may generate the electronic map based on a request of the user, and display different zebra crossings in different areas of the electronic map according to the requested location information, for example, in an area within a preset range of the requested location information, the electronic zebra crossings are displayed, and in an area outside the preset range of the requested location information, the initial zebra crossings are displayed, thereby achieving technical effects of flexibility and diversity of display, and saving technical effects of display resources of the receiving end.

Fig. 8 is a schematic diagram according to a fifth embodiment of the present application, and as shown in fig. 8, a method for generating an electronic zebra crossing based on an electronic map according to the embodiment of the present application includes:

s801: and acquiring a request message, wherein the request message is used for acquiring the electronic map and carries the request position information.

S802: and determining a physical zebra crossing within a preset range of the requested position information from a data source, and generating an initial zebra crossing and a bounding box according to the physical zebra crossing.

For example, regarding the principle of generating the initial zebra crossing and the bounding box, reference may be made to the description of any one of the first to fourth embodiments, which will not be described herein again.

That is, in the present embodiment, the electronic zebra crossing within the preset range from the requested position information may be generated for the requested position information.

S803: and obtaining a mapping corresponding to the physical zebra crossing, and determining the relative position information of each physical point forming the physical zebra crossing in the bounding box according to the data source.

For example, regarding the principle of obtaining the map and the relative position information corresponding to the physical zebra crossing, reference may be made to any one of the first to fourth embodiments for description, and details are not described here again.

S804: and rendering the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

For example, regarding the principle of generating the electronic zebra crossing by rendering, reference may be made to any one of the first to fourth embodiments for description, and details are not described here.

It should be noted that, in this embodiment, by generating the electronic zebra crossing within the preset range of the requested position information with respect to the requested position information, the efficiency of generating the electronic zebra crossing may be improved, and the electronic zebra crossing may be flexibly generated based on the requirement, that is, the technical effect of improving the flexibility and diversity of generating the electronic zebra crossing may be achieved.

Fig. 9 is a schematic diagram according to a sixth embodiment of the present application, and as shown in fig. 9, an apparatus 900 for generating an electronic zebra crossing based on an electronic map provided by the embodiment of the present application includes:

a generating unit 901, configured to generate an initial zebra crossing of a physical zebra crossing and a bounding box of the physical zebra crossing in an electronic map according to an acquired data source of the electronic map, where the data source includes data information used for making the electronic map, and the bounding box is used for indicating a bounding space of the physical zebra crossing.

A first obtaining unit 902, configured to obtain a map corresponding to a physical zebra crossing.

A first determining unit 903, configured to determine, according to the data source, relative position information of each physical point constituting the physical zebra crossing in the bounding box.

And a rendering unit 904, configured to render the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing, so as to obtain the electronic zebra crossing.

Fig. 10 is a schematic diagram according to a seventh embodiment of the present application, and as shown in fig. 10, an apparatus 1000 for generating an electronic zebra crossing based on an electronic map provided by the embodiment of the present application includes:

the generating unit 1001 is configured to generate an initial zebra crossing of a physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to an acquired data source of the electronic map, where the data source includes data information used for making the electronic map, and the bounding box is used for indicating a bounding space of the physical zebra crossing.

As can be seen in fig. 10, in some embodiments, the generating unit 1001 includes:

a second obtaining subunit 10011 is configured to obtain, from the data source, physical location information of the physical points that form the physical zebra crossing.

A fifth determining subunit 10012, configured to determine a polygonal area of the physical zebra crossing according to the physical location information.

A second generating subunit 10013, configured to generate a bounding box according to a polygonal area, where the polygonal area represents an area for framing the physical zebra crossing.

In some embodiments, the second generating subunit 10013 is configured to generate the box according to physical coordinate information of physical points in the polygon area; alternatively, the first and second electrodes may be,

the second generation subunit 10013 is configured to determine the longest side of the polygon region, and generate a bounding box according to the longest side and a vertical direction perpendicular to the longest side.

The first obtaining unit 1002 is configured to obtain a map corresponding to a physical zebra crossing.

As can be seen in fig. 10, in some embodiments, the first obtaining unit 1002 includes:

the second determining subunit 10021 is configured to determine, from a preset zebra crossing model, a mapping area covered by the relative position information, where the zebra crossing model is used to represent a three-dimensional model of a physical zebra crossing.

The third determining subunit 10022 is configured to determine the map in the map area as the map corresponding to the physical zebra crossing.

A first determining unit 1003, configured to determine, according to the data source, relative position information of each physical point constituting the physical zebra crossing in the bounding box.

As can be seen in fig. 10, in some embodiments, the first determining unit 1003 includes:

a sixth determining subunit 10031, configured to determine vertex position information of the vertices of the bounding box in the coordinate system of the electronic map.

The computing subunit 10032 is configured to compute coordinate transformation information between the physical position information of the vertex and the vertex position information.

A seventh determining subunit 10033 is configured to determine, according to the coordinate conversion information and the physical location information of the physical point in the polygon area, the relative location information of the physical point in the polygon area in the bounding box.

And the rendering unit 1004 is configured to render the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing, so as to obtain the electronic zebra crossing.

As can be seen in fig. 10, in some embodiments, the rendering unit 1004 includes:

the first determining subunit 10041 determines, according to the relative position information, rendering position information of the map corresponding to the physical zebra crossing on the initial zebra crossing.

The rendering subunit 10042 is configured to render, according to the rendering position information, the map corresponding to the physical zebra crossing on the initial zebra crossing, so as to obtain the electronic zebra crossing.

In some embodiments, the rendering subunit 10042 comprises:

and the determining module is used for determining the distance information between at least any two adjacent lines in the physical zebra crossing according to the relative position information.

And the adjusting module is used for adjusting the size information of the map corresponding to the physical zebra crossing according to the distance information.

And the rendering module is used for rendering the initial zebra crossing in the electronic map based on the rendering position information and the adjusted map corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

A third obtaining unit 1005, configured to obtain a route navigation request, where the route navigation request includes initial position information and target position information.

A second determining unit 1006, configured to determine a navigation path according to the initial position information and the target position information, and determine a partial map corresponding to the navigation path from the electronic map including the electronic zebra crossing, where the partial map corresponding to the navigation path is used for controlling vehicle driving.

A second output unit 1007 for outputting a partial map corresponding to the navigation path.

Fig. 11 is a schematic diagram according to an eighth embodiment of the present application, and as shown in fig. 11, an apparatus 1100 for generating an electronic zebra crossing based on an electronic map provided by the embodiment of the present application includes:

the second obtaining unit 1101 is configured to obtain a request message, where the request message is used to obtain an electronic map, and the request message carries request location information.

The generating unit 1102 is configured to generate an initial zebra crossing of a physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to an acquired data source of the electronic map, where the data source includes data information used for making the electronic map, and the bounding box is used for indicating a bounding space of the physical zebra crossing.

A first obtaining unit 1103, configured to obtain a map corresponding to a physical zebra crossing.

A first determining unit 1105, configured to determine, according to the data source, relative position information of each physical point constituting the physical zebra crossing in the bounding box.

And a rendering unit 1106, configured to render the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing, so as to obtain the electronic zebra crossing.

A first output unit 1107, configured to output an electronic map including an initial zebra crossing and an electronic zebra crossing according to the requested location information, where in the output electronic map, the zebra crossing located within the preset range of the requested location information is the electronic zebra crossing, the zebra crossing located outside the preset range of the requested location information is the initial zebra crossing, and the physical zebra crossing is the zebra crossing within the preset range of the requested location information.

Fig. 12 is a schematic diagram according to a ninth embodiment of the present application, and as shown in fig. 12, an apparatus 1200 for generating an electronic zebra crossing based on an electronic map provided by the embodiment of the present application includes:

the generating unit 1201 is configured to generate an initial zebra crossing of the physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to the acquired data source of the electronic map, where the data source includes data information used for making the electronic map, and the bounding box is used for indicating a bounding space of the physical zebra crossing.

As can be seen in fig. 12, in some embodiments, the generating unit 1201 includes:

the first obtaining subunit 12011 is configured to obtain a request message, where the request message is used to obtain an electronic map, and the request message carries request location information.

A fourth determining subunit 12012, configured to determine, from the data source, a physical zebra crossing within a preset range of the requested location information.

A first generating subunit 12013, configured to generate an initial zebra crossing and a bounding box according to the physical zebra crossing.

A first obtaining unit 1202, configured to obtain a map corresponding to a physical zebra crossing.

A first determining unit 1203 is configured to determine, according to the data source, relative position information of each physical point constituting the physical zebra crossing in the bounding box.

And a rendering unit 1204, configured to render the initial zebra crossing in the electronic map according to the relative position information and the map corresponding to the physical zebra crossing, so as to obtain the electronic zebra crossing.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

There is also provided, in accordance with an embodiment of the present application, a computer program product, including: a computer program, stored in a readable storage medium, from which at least one processor of the electronic device can read the computer program, the at least one processor executing the computer program causing the electronic device to perform the solution provided by any of the embodiments described above.

FIG. 13 shows a schematic block diagram of an example electronic device 1300 that can be used to implement embodiments of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.

As shown in fig. 13, the electronic device 1300 includes a computing unit 1301 that can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)1302 or a computer program loaded from a storage unit 1308 into a Random Access Memory (RAM) 1303. In the RAM 1303, various programs and data necessary for the operation of the device 1300 can also be stored. The calculation unit 1301, the ROM 1302, and the RAM 1303 are connected to each other via a bus 1304. An input/output (I/O) interface 1305 is also connected to bus 1304.

A number of components in the device 1300 connect to the I/O interface 1305, including: an input unit 1306 such as a keyboard, a mouse, or the like; an output unit 1307 such as various types of displays, speakers, and the like; storage unit 1308, such as a magnetic disk, optical disk, or the like; and a communication unit 1309 such as a network card, modem, wireless communication transceiver, etc. The communication unit 1309 allows the device 1300 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.

Computing unit 1301 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of computing unit 1301 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various computing units running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. The calculation unit 1301 performs the respective methods and processes described above, such as the generation method of the electronic zebra crossing based on the electronic map. For example, in some embodiments, the method for generating electronic zebra crossing based on electronic map may be implemented as a computer software program tangibly embodied on a machine-readable medium, such as storage unit 1308. In some embodiments, some or all of the computer program may be loaded onto and/or installed onto device 1300 via ROM 1302 and/or communications unit 1309. When the computer program is loaded into the RAM 1303 and executed by the computing unit 1301, one or more steps of the method for generating an electronic zebra crossing based on an electronic map described above may be performed. Alternatively, in other embodiments, the computing unit 1301 may be configured in any other suitable way (e.g., by means of firmware) to perform the method of generating an electronic zebra crossing based on an electronic map.

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

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

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

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

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

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

According to another aspect of an embodiment of the present application, there is provided an electronic map-based navigation system, including: the electronic map comprises electronic zebra crossings generated by the electronic zebra crossing generation device based on the electronic map in the embodiment, and a server, wherein the electronic map is stored in the server, and the electronic zebra crossings generated by the electronic zebra crossing generation device based on the electronic map in the embodiment are included in the electronic map; wherein the content of the first and second substances,

the vehicle is used for receiving initial position information and target position information input by a user, generating a route navigation request according to the initial position information and the target position information, and initiating the route navigation request to the server.

The server is used for determining a navigation path according to the initial position information and the target position information, determining a partial map corresponding to the navigation path from a prestored electronic map according to the navigation path, and feeding back the partial map to the vehicle.

The vehicle is used for displaying part of the map.

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

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

Claims

1. A method for generating an electronic zebra crossing based on an electronic map comprises the following steps:

2. The method of claim 1, wherein rendering the initial zebra crossing in the electronic map according to the relative position information and a map corresponding to the physical zebra crossing to obtain an electronic zebra crossing comprises:

determining rendering position information of a mapping corresponding to the physical zebra crossing on the initial zebra crossing according to the relative position information;

rendering the mapping corresponding to the physical zebra crossing on the initial zebra crossing according to the rendering position information to obtain the electronic zebra crossing.

3. The method of claim 2, wherein rendering the map corresponding to the physical zebra crossing on the initial zebra crossing according to the rendering position information to obtain the electronic zebra crossing comprises:

determining distance information between at least any two adjacent lines in the physical zebra crossing according to the relative position information, and adjusting the size information of the map corresponding to the physical zebra crossing according to the distance information;

rendering the initial zebra crossing in the electronic map based on the rendering position information and the adjusted map corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

4. The method of any one of claims 1 to 3, wherein obtaining a map corresponding to the physical zebra crossing comprises:

determining a mapping area covered by the relative position information from a preset zebra crossing model, wherein the zebra crossing model is used for representing a three-dimensional model of the physical zebra crossing;

and determining the map in the map area as the map corresponding to the physical zebra crossing.

5. The method according to any one of claims 1 to 4, before generating an initial zebra crossing of a house zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to the acquired data source of the electronic map, the method further comprising: acquiring a request message, wherein the request message is used for acquiring the electronic map and carries request position information;

and rendering the initial zebra crossing in the electronic map according to the relative position information of each physical point and the map corresponding to the physical zebra crossing to obtain the electronic zebra crossing, wherein the method further comprises the following steps: and outputting an electronic map comprising the initial zebra stripes and the electronic zebra stripes according to the request position information, wherein in the output electronic map, the zebra stripes positioned in the preset range of the request position information are electronic zebra stripes, the zebra stripes positioned outside the preset range of the request position information are initial zebra stripes, and the physical zebra stripes are the zebra stripes positioned in the preset range of the request position information.

6. The method according to any one of claims 1 to 4, wherein generating an initial zebra crossing of physical zebra crossings and a bounding box of the physical zebra crossings from the acquired data source of the electronic map comprises:

acquiring a request message, wherein the request message is used for acquiring the electronic map and carries request position information;

and determining the physical zebra crossings within a preset range of the requested position information from the data source, and generating the initial zebra crossings and the bounding boxes according to the physical zebra crossings.

7. The method according to any one of claims 1 to 6, wherein generating an initial zebra crossing with a physical zebra crossing and a bounding box of the physical zebra crossing in the electronic map according to the acquired data source of the electronic map comprises:

acquiring physical position information of physical points for forming the physical zebra crossing from the data source;

and determining a polygonal area of the physical zebra crossing according to the physical position information, and generating the bounding box according to the polygonal area, wherein the polygonal area represents an area for framing the physical zebra crossing.

8. The method of claim 7, wherein generating the bounding box from the polygonal region comprises:

generating the bounding box according to the physical coordinate information of the physical points in the polygonal area; alternatively, the first and second electrodes may be,

and determining the longest edge of the polygonal area, and generating the bounding box according to the longest edge and the vertical direction perpendicular to the longest edge.

9. The method of claim 7, wherein determining, from the data source, relative position information of a physical point in the bounding box corresponding to the physical zebra crossing comprises:

determining vertex position information of the vertex of the bounding box in a coordinate system of the electronic map, and calculating coordinate conversion information between physical position information of the vertex and the vertex position information;

and determining the relative position information of the physical points in the polygonal area in the bounding box according to the coordinate conversion information and the physical position information of the physical points in the polygonal area.

10. The method according to any one of claims 1 to 9, after rendering the initial zebra crossing in the electronic map according to the relative position information and the map, resulting in an electronic zebra crossing, the method further comprising:

acquiring a route navigation request, wherein the route navigation request comprises initial position information and target position information, and determining a navigation path according to the initial position information and the target position information;

and determining and outputting a partial map corresponding to the navigation path from the electronic map including the electronic zebra crossing, wherein the partial map corresponding to the navigation path is used for controlling the driving of the vehicle.

11. An electronic map-based electronic zebra crossing generation device comprises:

12. The apparatus of claim 11, wherein the rendering unit comprises:

a first determining subunit, configured to determine, according to the relative position information, rendering position information of a map corresponding to the physical zebra crossing on the initial zebra crossing;

and the rendering subunit is used for rendering the mapping corresponding to the physical zebra crossing on the initial zebra crossing according to the rendering position information to obtain the electronic zebra crossing.

13. The apparatus of claim 12, wherein the rendering subunit comprises:

the determining module is used for determining distance information between at least any two adjacent lines in the physical zebra crossing according to the relative position information;

the adjusting module is used for adjusting the size information of the map corresponding to the physical zebra crossing according to the distance information;

and the rendering module is used for rendering the initial zebra crossing in the electronic map based on the rendering position information and the adjusted mapping corresponding to the physical zebra crossing to obtain the electronic zebra crossing.

14. The apparatus according to any one of claims 11 to 13, wherein the first obtaining unit includes:

the second determining subunit is configured to determine, from a preset zebra crossing model, a mapping area covered by the relative position information, where the zebra crossing model is used to represent a three-dimensional model of the physical zebra crossing;

and the third determining subunit is used for determining the map in the map area as the map corresponding to the physical zebra crossing.

15. The apparatus of any of claims 11 to 14, further comprising:

a second obtaining unit, configured to obtain a request message, where the request message is used to obtain the electronic map and carries request location information;

and the first output unit is used for outputting an electronic map comprising the initial zebra stripes and the electronic zebra stripes according to the request position information, wherein in the output electronic map, the zebra stripes positioned in the preset range of the request position information are electronic zebra stripes, the zebra stripes positioned outside the preset range of the request position information are initial zebra stripes, and the physical zebra stripes are the zebra stripes positioned in the preset range of the request position information.

16. The apparatus according to any one of claims 11 to 14, wherein the generating unit comprises:

the first obtaining subunit is configured to obtain a request message, where the request message is used to obtain the electronic map and carries request location information;

a fourth determining subunit, configured to determine, from the data source, the physical zebra crossing within a preset range of the requested location information;

and the first generation subunit is used for generating the initial zebra crossing and the bounding box according to the physical zebra crossing.

17. The apparatus according to any one of claims 11 to 16, wherein the generating unit comprises:

a second obtaining subunit, configured to obtain, from the data source, physical location information of physical points that form the physical zebra crossing;

a fifth determining subunit, configured to determine a polygonal area of the physical zebra crossing according to the physical location information;

and the second generation subunit is used for generating the bounding box according to the polygonal area, wherein the polygonal area represents an area for framing the physical zebra crossing.

18. The apparatus according to claim 17, wherein the second generating subunit is configured to generate the bounding box according to physical coordinate information of physical points in the polygon area; alternatively, the first and second electrodes may be,

19. The apparatus of claim 17, wherein the first determining unit comprises:

a sixth determining subunit, configured to determine vertex position information of the vertex of the bounding box in the coordinate system of the electronic map;

a calculation subunit configured to calculate coordinate conversion information between the physical position information of the vertex and the vertex position information;

a seventh determining subunit, configured to determine, according to the coordinate conversion information and the physical location information of the physical point in the polygon area, relative location information of the physical point in the polygon area in the bounding box.

20. The apparatus of any of claims 11 to 19, further comprising:

the third acquisition unit is used for acquiring a route navigation request, wherein the route navigation request comprises initial position information and target position information;

a second determining unit, configured to determine a navigation path according to the initial position information and the target position information, and determine a partial map corresponding to the navigation path from the electronic map including the electronic zebra crossing, where the partial map corresponding to the navigation path is used to control vehicle driving;

and the second output unit is used for outputting a partial map corresponding to the navigation path.

21. An electronic device, comprising:

at least one processor; and

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 10.

22. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1 to 10.

23. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 10.

24. A roadside apparatus comprising the electronic apparatus of claim 21.

25. A cloud controlled platform comprising the electronic device of claim 21.