CN113470143A - Electronic map drawing method, device and equipment and automatic driving vehicle - Google Patents
Electronic map drawing method, device and equipment and automatic driving vehicle Download PDFInfo
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Abstract
The disclosure provides an electronic map drawing method, device and equipment and an automatic driving vehicle, and relates to the technical field of intelligent transportation and automatic driving, in particular to the technical field of electronic map drawing. The specific implementation scheme is as follows: determining graphic data corresponding to the symmetrical graphics in the data set of the electronic map; generating key symmetrical data for drawing the symmetrical graph based on the graph data, wherein the key symmetrical data at least comprises data of a basic graph in the symmetrical graph, and the data volume of the key symmetrical data is smaller than that of the graph data; and drawing the symmetrical graph based on the key symmetrical data in the scene needing drawing the symmetrical graph. The method generates a complete symmetrical image based on the key symmetrical data, and the data except the key symmetrical data in the data of the symmetrical image can be discarded, so that the data amount required to be loaded in the drawing process of the electronic map can be remarkably reduced, and the rendering efficiency and the real-time performance of the electronic map are improved.
Description
Technical Field
The present disclosure relates to the field of intelligent transportation and automatic driving technologies, and in particular, to the field of electronic map drawing technologies.
Background
In order to improve the rendering effect of the electronic map, the map data generally needs to be regularly processed and optimized to ensure that a smoother map graph can be rendered based on the processed and optimized map data. However, the data volume of the map data is large, and after the map data is processed and optimized, the data volume of the map data is increased rapidly, and a large amount of data needs to be loaded in the drawing process of the electronic map, so that the rendering efficiency of the electronic map is seriously affected.
Disclosure of Invention
The disclosure provides an electronic map drawing method, device and equipment and an automatic driving vehicle.
According to an aspect of the present disclosure, there is provided an electronic mapping method including:
determining graphic data corresponding to the symmetrical graphics in the data set of the electronic map;
generating key symmetry data for drawing the symmetry figure based on the figure data, wherein the key symmetry data at least contains data of a basic figure in the symmetry figure, and the data volume of the key symmetry data is smaller than that of the figure data;
during a period of time when the symmetric graphics in the electronic map need to be rendered, drawing the symmetric graphics based on the key symmetry data.
According to another aspect of the present disclosure, there is provided an electronic mapping apparatus including:
the graphic data determining module is used for determining graphic data corresponding to the symmetrical graphics in the data set of the electronic map;
a key symmetric data generation module, configured to generate key symmetric data for drawing the symmetric graph based on the graph data, where the key symmetric data at least includes data of a basic graph in the symmetric graph, and a data amount of the key symmetric data is smaller than a data amount of the graph data;
and the graph drawing module is used for drawing the symmetrical graph based on the key symmetrical data during the period when the symmetrical graph in the electronic map needs to be rendered.
According to another aspect of the present disclosure, there is provided an electronic device including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform any of the electronic mapping methods described above.
According to another aspect of the present disclosure, there is provided a non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to execute any of the electronic mapping methods described above.
According to another aspect of the present disclosure, there is provided a computer program product comprising a computer program which, when executed by a processor, implements any of the electronic mapping methods described above.
According to another aspect of the present disclosure, an autonomous vehicle is provided that includes an electronic device provided by the present disclosure.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.
The technical scheme provided by the disclosure has the following beneficial effects:
according to the scheme provided by the embodiment of the disclosure, for the symmetric graph in the electronic map, the key symmetric data with a small data volume can be generated based on the data of the symmetric graph, the complete symmetric image can be generated based on the key symmetric data, and the data except the key symmetric data in the data of the symmetric graph can be discarded, so that the data volume required to be loaded in the drawing process of the electronic map can be remarkably reduced, and the rendering efficiency and the real-time performance of the electronic map are improved.
In addition, a complete symmetrical graph is drawn based on key symmetrical data including basic graph data, and actually, the basic graph is symmetrical to obtain the complete symmetrical graph, so that the consistency of parts with repeated rules in the symmetrical graph can be ensured, and the smoothness of the symmetrical graph is improved.
Drawings
The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:
fig. 1 is a schematic flow chart illustrating an electronic mapping method provided by an embodiment of the present disclosure;
fig. 2 is a schematic flow chart illustrating another electronic mapping method provided by the embodiment of the present disclosure;
fig. 3 shows one of the schematic structural diagrams of an electronic map rendering apparatus provided by the embodiment of the present disclosure;
fig. 4 is a second schematic structural diagram of an electronic map rendering apparatus according to an embodiment of the present disclosure;
FIG. 5 shows a schematic block diagram of an example electronic device that may be used to implement an electronic mapping method of an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
In order to improve the rendering effect of the electronic map, the map data generally needs to be subjected to regularized processing and optimization, such as curve smoothing processing, bezier curve optimization, straight line optimization, and the like, and a smoother map graph can be rendered based on the processed and optimized map data. However, the map data itself has a large data volume, and after processing and optimization, the data volume of the map data is increased dramatically, which seriously affects the rendering efficiency of the electronic map.
For example, in the field of unmanned driving, an electronic map needs to be rendered on a human-computer interaction interface of an unmanned vehicle, and in order to ensure driving safety, the map rendering can be performed in high real-time during the driving of the vehicle, so as to ensure that driving data can be provided in time. In the case that the hardware condition of the human-computer interaction device is limited, the larger the data volume of the map data is, the greater the rendering pressure borne by the human-computer interaction device is, and thus the rendering efficiency and real-time performance of the electronic map are seriously affected.
The electronic map drawing method, device and equipment and the automatic driving vehicle provided by the embodiment of the disclosure aim to solve at least one of the above technical problems in the prior art.
Fig. 1 shows a schematic flow diagram of an electronic mapping method provided by an embodiment of the present disclosure, and as shown in fig. 1, the method mainly includes the following steps:
s110: in the data set of the electronic map, graphic data corresponding to the symmetrical graphics are determined.
Here, the electronic map may be a map in any scene, such as a map shown on a human-machine interaction interface of an unmanned vehicle in an automatic driving scene, a navigation map in a navigation application, a game map in an electronic game, and the like. It will be appreciated that the electronic map may contain a plurality of graphics representing objects or regions in the map, which may be buildings, natural landscapes (greens, rivers, mountains, etc.), roads, etc. The data set of the electronic map comprises graphic data of each graphic, and the corresponding graphic can be drawn by the graphic data.
Each graphic in the electronic map may be classified into a symmetrical graphic and an asymmetrical graphic according to whether the graphic has symmetry. In this step, a symmetric graph may be identified on the electronic map, and then graph data corresponding to the symmetric graph may be screened out from the data set of the electronic map. The embodiment of the present disclosure may determine, according to a plurality of preset rules, the graphic data corresponding to the symmetric graph from the data set, and two ways of determining the graphic data corresponding to the symmetric graph are described below.
The first way to determine the graph data corresponding to the symmetric graph is: and determining a symmetrical figure which accords with the preset symmetrical figure type in the electronic map, and screening out figure data corresponding to the symmetrical figure in the data set of the electronic map.
Some types of figures have more pronounced symmetry features, such as rectangular, capsule, isosceles triangle, equilateral triangle, and circular, among other types of symmetrical figures. It is understood that the electronic map includes zebra crossing areas, roundabout areas, road areas, etc., and the graphics used for representing these areas are generally symmetrical graphics. For example, if it is determined in the electronic map that the graphic of a certain roundabout area corresponds to a circle, the graphic data of the roundabout area is selected from the data set of the electronic map. The symmetric graph with obvious symmetric characteristics can be automatically identified, and the data processing speed is improved.
The second way to determine the graph data corresponding to the symmetric graph is: in response to a selection operation for a graphic in the electronic map, the selected graphic is determined as a symmetric graphic, and graphic data corresponding to the symmetric graphic is screened out of the data set of the electronic map.
In the embodiment of the disclosure, the symmetric graph in the electronic map is selected in a manner of judgment by the staff, a certain symmetric graph can be selected in response to the staff, and the graph data of the symmetric graph selected by the staff is screened out from the data set. Specifically, the staff may determine which graphics in the electronic map are symmetric graphics, for example, determine whether the graphics of the intersection area or the flower bed are symmetric graphics; if a certain figure is determined to be a symmetrical figure, the worker can label the figure, respond to the labeling operation of the worker on the certain figure, and screen out the figure data of the labeled symmetrical figure from the data set. The embodiment of the disclosure allows the symmetric graph to be determined in a manual judgment mode, ensures that the symmetric graph in the electronic map is not missed, and improves the integrity of the collected symmetric graph data.
The embodiment of the present disclosure may optimize at least a portion of lines of the electronic map before step S110, so as to regularize the graphics in the electronic map, thereby regularizing the nearly symmetrical graphics into standard symmetrical graphics, thereby increasing the number of symmetrical graphics in the electronic map. Optionally, a line to be optimized meeting the preset optimization condition may be determined in the electronic map, and the line to be optimized is adjusted to be a standard line of a type corresponding to the preset optimization condition.
S120: key symmetry data for drawing a symmetric figure is generated based on the figure data.
The key symmetric data in the embodiment of the present disclosure at least includes data of a basic graphic in the symmetric graphic, and the data amount of the key symmetric data is smaller than that of the graphic data. The basic pattern in the symmetric pattern may refer to a repeating unit in the symmetric pattern, and the repeating unit may obtain a corresponding symmetric pattern after at least one symmetry. That is, a symmetrical pattern can be seen to be composed of a plurality of repeating units, and any one of the repeating units can be selected as the basic pattern in the embodiments of the present disclosure.
Taking the symmetric graph as a rectangle as an example, the graph (e.g., the left half part of the rectangle) on one side of the symmetry axis of the rectangle can be used as the basic graph of the rectangle, the key symmetric data at least comprises the data of the basic graph, and the data of the graph (e.g., the right half part of the rectangle) on the other side of the symmetry axis of the rectangle can be discarded, so that the data volume of the key symmetric data of the rectangle is smaller than that of the graph data of the rectangle, and it can be understood that the basic graph can obtain a complete rectangle after one-time symmetry.
Taking the example that the symmetric pattern includes a plurality of sub-patterns, the symmetric pattern can be regarded as a sub-pattern obtained after the sub-patterns are arrayed or symmetric. One of the sub-patterns of the symmetrical pattern can be used as a basic pattern of the symmetrical pattern, the key symmetrical data at least comprises data of the basic pattern, and data of the rest sub-patterns in the symmetrical pattern can be discarded, so that the data volume of the key symmetrical data of the symmetrical pattern is smaller than that of the pattern data of the symmetrical pattern, and it can be understood that the sub-patterns used as the basic pattern can obtain a complete symmetrical pattern after being symmetrical or arrayed.
S130: during the period when the symmetric graphics in the electronic map need to be rendered, the symmetric graphics are drawn based on the key symmetric data.
During the period of rendering the electronic map, when the graphic to be rendered is a symmetric graphic, the symmetric graphic can be drawn based on the key symmetry data obtained in step S110 and step S120. Alternatively, complete figure data for drawing the symmetric figure may be generated from the key symmetric data, and the symmetric figure may be drawn based on the complete figure data.
According to the electronic map drawing method provided by the embodiment of the disclosure, for the symmetric graph in the electronic map, the key symmetric data with a small data volume can be generated based on the data of the symmetric graph, the complete symmetric image can be generated based on the key symmetric data, and the data except the key symmetric data in the data of the symmetric graph can be discarded, so that the data volume required to be loaded in the drawing process of the electronic map can be remarkably reduced, and the rendering efficiency and the real-time performance of the electronic map are improved.
In addition, a complete symmetrical graph is drawn based on key symmetrical data including basic graph data, and actually, the basic graph is symmetrical to obtain the complete symmetrical graph, so that the consistency of parts with repeated rules in the symmetrical graph can be ensured, and the smoothness of the symmetrical graph is improved.
Fig. 2 shows a schematic flow chart of an electronic mapping method provided by an embodiment of the present disclosure, and as shown in fig. 2, the method mainly includes the following steps:
s210: and determining a line to be optimized which meets a preset optimization condition in the electronic map, and adjusting the line to be optimized into a standard line of a type corresponding to the preset optimization condition.
The embodiment of the present disclosure may predefine at least one standard line, and the at least one standard line may be a standard straight line, a standard circular arc line, a line with a repeating rule, or a line group with a preset relationship (e.g., two standard parallel lines, or two standard lines perpendicular to each other), and the like. Each standard line has a corresponding preset optimization condition, each standard line has at least one corresponding preset optimization condition, and the preset optimization conditions can be determined according to actual design requirements. For lines in the electronic map, if one line meets a preset optimization condition corresponding to a certain standard line, the line can be determined as a line to be optimized, and then the line to be optimized is optimized as the corresponding standard line.
Several ways of determining whether the line meets the preset optimization condition are described below:
taking the standard line as a straight line for example, an optimization condition related to the difference value or variance value of the slope may be set. For example, for a certain line in the electronic map, the slope between each point on the line can be calculated, then the sum of the difference values of all the slopes is calculated, and whether the line is the line to be optimized which can be optimized as a standard straight line is determined based on the sum of the difference values. Or, for a certain line in the electronic map, the slope between each point on the line can be calculated, then the sum of the variance values of all the slopes is calculated, and whether the line is the line to be optimized which can be optimized as a standard straight line is determined based on the sum of the variance values.
Taking the standard line as an arc line as an example, an optimization condition related to the variance value of the slope may be set. For example, for a certain line in the electronic map, the slope between each point on the line may be calculated, and then the sum of the variance values of all the slopes is calculated, and based on whether the sum of the variance values is the line to be optimized which can be optimized as the standard circular arc line.
Taking the standard line as an example of two parallel lines, an optimization condition related to the difference in slope of the two lines can be set. For example, for two lines in the electronic map, a difference in slope of the two lines may be calculated, and it is determined whether the two lines are optimized to be standard parallel lines based on the difference in slope.
S220: in the data set of the electronic map, graphic data corresponding to the symmetrical graphics are determined.
The description of step S220 may refer to the description of step S110, and the same technical effect may be achieved, which is not described herein again.
S230: and determining the symmetry mode of the symmetrical graph.
The symmetry mode of the disclosed embodiment includes at least one of the following: bilateral symmetry, up-down symmetry, four-corner symmetry, point nine symmetry, turnover symmetry, mirror symmetry and central symmetry. After the symmetric pattern is identified, it can be determined to which symmetric mode the symmetric pattern belongs.
Here, the figures belonging to the bilateral symmetry, the up-down symmetry, the four-corner symmetry, the flip symmetry and the mirror symmetry may be regarded as axisymmetric figures, and it can be understood that if a planar figure is folded along a straight line, the portions at both sides of the straight line can be overlapped with each other, and the two figures may be regarded as axisymmetric figures.
The pattern with nine-point symmetry in the embodiment of the present disclosure means that the clothesbill moth pattern is composed of a plurality of basic patterns (such as rectangles), for example, a pattern obtained by a rectangular array or a circular array of one basic pattern may be regarded as a pattern with nine-point symmetry.
In the disclosed embodiment, if a figure is rotated 180 around a certain point in a plane, if the rotated figure can be overlapped with the original figure, the figure can be a figure belonging to a central symmetry mode.
S240: based on the graph data and the symmetry mode, the data of the basic graph in the symmetrical graph, the symmetry times and the data of the symmetry center according to each symmetry.
In the embodiment of the present disclosure, the key symmetric data includes, in addition to data of a basic pattern in the symmetric pattern, data of a symmetry number and a symmetry center on which each time of symmetry is based, where the symmetry number is a number of times that the basic pattern needs to be symmetric to obtain the symmetric pattern. Here, the type of the center of symmetry may be determined according to the symmetry mode to which the symmetric pattern belongs, for example, for a symmetric pattern in a left-right symmetric mode, the center of symmetry of the symmetric pattern is its axis of symmetry; for a symmetrical pattern in a centrosymmetric manner, the symmetric center of the symmetrical pattern is the symmetric point.
Taking the symmetric pattern as a rectangle as an example, a pattern on one side of a symmetry axis of the rectangle (for example, a left half part of the rectangle) can be used as a basic pattern of the rectangle, a symmetry center of the rectangle is the symmetry axis, and the basic pattern can be obtained by one-time symmetry based on the symmetry axis, so that the number of times of symmetry is 1. For a rectangle, the key symmetry data includes data of a pattern on one side of the symmetry axis of the rectangle, data of the symmetry axis, and the number of symmetries 1, and data of a pattern on the other side of the symmetry axis of the rectangle (e.g., the right half of the rectangle) may be discarded.
S250: during the period of rendering the symmetrical graph in the electronic map, generating complete graph data for drawing the symmetrical graph through the key symmetrical data, and drawing the symmetrical graph based on the complete graph data.
As described above, the key symmetry data includes data of the number of symmetries and the center of symmetry according to which each symmetry is based, in addition to data of the basic pattern in the symmetric pattern. During the period of rendering the electronic map, when the graphic to be rendered is a symmetric graphic, the symmetric graphic can be drawn based on the key symmetry data obtained in steps S210 to S240.
Optionally, a symmetric transformation matrix may be generated based on the data of the base graph in the symmetric graph, the number of symmetries, and the data of the symmetry center on which each symmetry depends; and obtaining complete graph data for drawing the symmetrical graph through the data of the basic graph and the symmetrical transformation matrix.
Specifically, the data of the basic graph is multiplied by the symmetric transformation matrix to obtain data which has a symmetric relation with the basic graph and belongs to other graphs using one symmetric graph, and the set of the data of the basic graph and the data of the other graphs is complete graph data used for drawing the symmetric graph, so that the symmetric graph can be drawn based on the complete graph data.
Taking the symmetric graph as a rectangle as an example, taking the left half part of the rectangle as a basic graph, multiplying the left half part of the rectangle by a symmetric transformation matrix to obtain data of the left half part of the rectangle, wherein the set of the data of the left half part of the rectangle and the data of the right half part of the rectangle is complete graph data for drawing the rectangle, and the rectangle can be drawn based on the complete graph data.
Based on the same principle as the electronic map drawing method described above, fig. 3 shows one of the structural schematic diagrams of an electronic map drawing apparatus provided by the embodiment of the present disclosure, and fig. 4 shows the second of the structural schematic diagrams of an electronic map drawing apparatus provided by the embodiment of the present disclosure. As shown in fig. 3, the electronic mapping apparatus 30 includes a graphic data determination module 310, a key symmetry data generation module 320, and a graphic drawing module 330.
The graphic data determination module 310 is configured to determine graphic data corresponding to the symmetric graphic in the data set of the electronic map.
The key symmetric data generation module 320 is configured to generate key symmetric data for drawing a symmetric graph based on the graph data, where the key symmetric data at least includes data of a basic graph in the symmetric graph, and a data amount of the key symmetric data is smaller than a data amount of the graph data.
The graphic drawing module 330 is used for drawing the symmetric graphics based on the key symmetric data during the period when the symmetric graphics in the electronic map need to be rendered.
According to the electronic map drawing device provided by the embodiment of the disclosure, for the symmetric graph in the electronic map, the key symmetric data with a small data volume can be generated based on the data of the symmetric graph, the complete symmetric image can be generated based on the key symmetric data, and the data except the key symmetric data in the data of the symmetric graph can be discarded, so that the data volume required to be loaded in the drawing process of the electronic map can be remarkably reduced, and the rendering efficiency and the real-time performance of the electronic map are improved.
In addition, a complete symmetrical graph is drawn based on key symmetrical data including basic graph data, and actually, the basic graph is symmetrical to obtain the complete symmetrical graph, so that the consistency of parts with repeated rules in the symmetrical graph can be ensured, and the smoothness of the symmetrical graph is improved.
In the embodiment of the present disclosure, when the graphic data determining module 310 is configured to determine, in the data set of the electronic map, the graphic data corresponding to the symmetric graphic, specifically:
determining a symmetrical figure which accords with a preset symmetrical figure type in the electronic map;
and screening out graphic data corresponding to the symmetrical graphics in the data set of the electronic map.
In the embodiment of the present disclosure, when the graphic data determining module 310 is configured to determine, in the data set of the electronic map, the graphic data corresponding to the symmetric graphic, specifically:
in response to a selection operation for a graphic in the electronic map, determining the selected graphic as a symmetrical graphic;
and screening out graphic data corresponding to the symmetrical graphics in the data set of the electronic map.
In the embodiment of the present disclosure, the key symmetry data further includes symmetry times and data of a symmetry center on which each symmetry is based, where the symmetry times are times for which the basic pattern needs to be symmetric in order to obtain the symmetric pattern;
the key symmetry data generation module 320, when configured to generate key symmetry data for drawing a symmetric graph based on graph data, is specifically configured to:
determining the symmetry mode of the symmetrical graph;
based on the graph data and the symmetry mode, the data of the basic graph in the symmetrical graph, the symmetry times and the data of the symmetry center according to each symmetry.
In an embodiment of the disclosure, the symmetry mode includes at least one of: bilateral symmetry, up-down symmetry, four-corner symmetry, point nine symmetry, turnover symmetry, mirror symmetry and central symmetry.
In this embodiment of the disclosure, when the graph drawing module 330 is configured to draw a symmetric graph based on the key symmetric data, it is specifically configured to:
and generating complete graph data for drawing the symmetric graph through the key symmetric data, and drawing the symmetric graph based on the complete graph data.
In the embodiment of the present disclosure, the key symmetry data further includes symmetry times and data of a symmetry center on which each symmetry is based, where the symmetry times are times for which the basic pattern needs to be symmetric in order to obtain the symmetric pattern;
the graph drawing module 330, when configured to generate complete graph data for drawing a symmetric graph from the key symmetry data, is specifically configured to:
generating a symmetrical transformation matrix based on the data of the basic graph in the symmetrical graph, the symmetrical times and the data of the symmetrical center according to each symmetry;
and obtaining complete graph data for drawing the symmetrical graph through the data of the basic graph and the symmetrical transformation matrix.
In the embodiment of the present disclosure, as shown in fig. 4, the electronic map drawing device 30 further includes a line optimization module 340, where the line optimization module 340 is configured to determine a line to be optimized in the electronic map, where the line meets a preset optimization condition; and adjusting the line to be optimized into a standard line of a type corresponding to a preset optimization condition.
It can be understood that the modules of the electronic map drawing device in the embodiment of the present disclosure have functions of implementing the corresponding steps of the map drawing method. The function can be realized by hardware, and can also be realized by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above. The modules can be software and/or hardware, and each module can be implemented independently or by integrating a plurality of modules. For the functional description of each module of the map drawing device, reference may be made to the corresponding description of the map drawing method, which is not described herein again.
The present disclosure also provides an electronic device, a readable storage medium, and a computer program product according to embodiments of the present disclosure.
FIG. 5 illustrates a schematic block diagram of an example electronic device that can be used to implement embodiments of the present disclosure. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the disclosure described and/or claimed herein.
As shown in fig. 5, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a Read Only Memory (ROM)502 or a computer program loaded from a storage unit 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 can also be stored. The calculation unit 501, the ROM 502, and the RAM 503 are connected to each other by a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
A number of components in the electronic device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The computing unit 501 may be a variety of general-purpose and/or special-purpose processing components having processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated 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 501 executes the respective methods and processes described above, such as an electronic mapping method. For example, in some embodiments, the electronic mapping method may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 500 via the ROM 502 and/or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the electronic mapping method described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the electronic mapping method by any other suitable means (e.g., by means of firmware).
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 may be a cloud server, a server of a distributed system, or a server with a combined blockchain.
The embodiment of the present disclosure also provides an autonomous vehicle, which may include the electronic device 500 provided by the embodiment of the present disclosure.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure may be executed in parallel or sequentially or in different orders, and are not limited herein as long as the desired results of the technical solutions disclosed in the present disclosure can be achieved.
The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.
Claims (20)
1. An electronic mapping method, comprising:
determining graphic data corresponding to the symmetrical graphics in the data set of the electronic map;
generating key symmetry data for drawing the symmetry figure based on the figure data, wherein the key symmetry data at least contains data of a basic figure in the symmetry figure, and the data volume of the key symmetry data is smaller than that of the figure data;
during a period of time when the symmetric graphics in the electronic map need to be rendered, drawing the symmetric graphics based on the key symmetry data.
2. The method of claim 1, wherein the determining graphic data corresponding to a symmetrical graphic in a data set of an electronic map comprises:
determining a symmetrical figure which accords with a preset symmetrical figure type in the electronic map;
and screening out the graphic data corresponding to the symmetrical graphics in the data set of the electronic map.
3. The method of claim 1, wherein the determining graphic data corresponding to a symmetrical graphic in a data set of an electronic map comprises:
in response to a selection operation for a graphic in the electronic map, determining the selected graphic as a symmetrical graphic;
and screening out the graphic data corresponding to the symmetrical graphics in the data set of the electronic map.
4. The method of claim 1, wherein the key symmetry data further comprises a number of symmetries, a center of symmetry on which each symmetry is based, wherein the number of symmetries is a number of symmetries required to make the base pattern symmetric in order to obtain the symmetric pattern;
generating key symmetry data for drawing the symmetric graph based on the graph data, comprising:
determining the symmetry mode of the symmetrical graph;
based on the graph data and the symmetry mode, the data of the basic graph in the symmetric graph, the symmetry times and the data of the symmetry center according to each symmetry.
5. The method of claim 4, wherein the symmetric manner comprises at least one of: bilateral symmetry, up-down symmetry, four-corner symmetry, point nine symmetry, turnover symmetry, mirror symmetry and central symmetry.
6. The method of claim 1, wherein said drawing said symmetry pattern based on said key symmetry data comprises:
and generating complete graph data for drawing the symmetric graph through the key symmetric data, and drawing the symmetric graph based on the complete graph data.
7. The method according to claim 6, wherein the key symmetry data further includes a symmetry number, which is a number of times the basic pattern needs to be symmetrical to obtain the symmetrical pattern, and a symmetry center data on which each symmetry is based;
generating complete graph data for drawing the symmetric graph through the key symmetric data, including:
generating a symmetrical transformation matrix based on the data of the basic graph in the symmetrical graph, the symmetrical times and the data of the symmetrical center according to each symmetry;
and obtaining complete graph data for drawing the symmetrical graph through the data of the basic graph and the symmetrical transformation matrix.
8. The method according to any one of claims 1 to 7, further comprising, before determining the graphic data corresponding to the symmetric graphic in the data set of the electronic map:
determining a line to be optimized which meets a preset optimization condition in an electronic map;
and adjusting the line to be optimized into a standard line of a type corresponding to the preset optimization condition.
9. An electronic mapping apparatus comprising:
the graphic data determining module is used for determining graphic data corresponding to the symmetrical graphics in the data set of the electronic map;
a key symmetric data generation module, configured to generate key symmetric data for drawing the symmetric graph based on the graph data, where the key symmetric data at least includes data of a basic graph in the symmetric graph, and a data amount of the key symmetric data is smaller than a data amount of the graph data;
and the graph drawing module is used for drawing the symmetrical graph based on the key symmetrical data during the period when the symmetrical graph in the electronic map needs to be rendered.
10. The apparatus according to claim 9, wherein the graphic data determining module, when configured to determine the graphic data corresponding to the symmetric graphic in the data set of the electronic map, is specifically configured to:
determining a symmetrical figure which accords with a preset symmetrical figure type in the electronic map;
and screening out the graphic data corresponding to the symmetrical graphics in the data set of the electronic map.
11. The apparatus according to claim 9, wherein the graphic data determining module, when configured to determine the graphic data corresponding to the symmetric graphic in the data set of the electronic map, is specifically configured to:
in response to a selection operation for a graphic in the electronic map, determining the selected graphic as a symmetrical graphic;
and screening out the graphic data corresponding to the symmetrical graphics in the data set of the electronic map.
12. The apparatus of claim 9, wherein the key symmetry data further comprises a number of symmetries, a center of symmetry from which each symmetry depends, wherein the number of symmetries is a number of symmetries required to make the base pattern symmetric for obtaining the symmetric pattern;
when the key symmetric data generation module is configured to generate key symmetric data for drawing the symmetric graph based on the graph data, the key symmetric data generation module is specifically configured to:
determining the symmetry mode of the symmetrical graph;
based on the graph data and the symmetry mode, the data of the basic graph in the symmetric graph, the symmetry times and the data of the symmetry center according to each symmetry.
13. The apparatus of claim 12, wherein the symmetric manner comprises at least one of: bilateral symmetry, up-down symmetry, four-corner symmetry, point nine symmetry, turnover symmetry, mirror symmetry and central symmetry.
14. The apparatus of claim 9, wherein the graph drawing module, when configured to draw the symmetric graph based on the key symmetry data, is specifically configured to:
and generating complete graph data for drawing the symmetric graph through the key symmetric data, and drawing the symmetric graph based on the complete graph data.
15. The apparatus of claim 14, wherein the key symmetry data further comprises a number of symmetries, a center of symmetry from which each symmetry depends, wherein the number of symmetries is a number of symmetries required to make the base pattern symmetric for obtaining the symmetric pattern;
when the graph drawing module is configured to generate complete graph data for drawing the symmetric graph from the key symmetric data, the graph drawing module is specifically configured to:
generating a symmetrical transformation matrix based on the data of the basic graph in the symmetrical graph, the symmetrical times and the data of the symmetrical center according to each symmetry;
and obtaining complete graph data for drawing the symmetrical graph through the data of the basic graph and the symmetrical transformation matrix.
16. The apparatus of any of claims 1 to 15, further comprising a line optimization module to:
determining a line to be optimized which meets a preset optimization condition in an electronic map;
and adjusting the line to be optimized into a standard line of a type corresponding to the preset optimization condition.
17. 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 any one of claims 1-8.
18. 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 1-8.
19. A computer program product comprising a computer program which, when executed by a processor, implements the method according to any one of claims 1-8.
20. An autonomous vehicle comprising the electronic device of claim 17.
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