CN108931927B - The creation method and device of unmanned simulating scenes - Google Patents
The creation method and device of unmanned simulating scenes Download PDFInfo
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- CN108931927B CN108931927B CN201810821388.XA CN201810821388A CN108931927B CN 108931927 B CN108931927 B CN 108931927B CN 201810821388 A CN201810821388 A CN 201810821388A CN 108931927 B CN108931927 B CN 108931927B
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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Abstract
The embodiment of the present invention provides the creation method and device of a kind of unmanned simulating scenes.This method comprises: receiving the scene description sentence of the unmanned simulating scenes of input, scene description sentence includes the behavior description for road description and main vehicle and barrier needed for creating unmanned simulating scenes；According to road description, the atlas for creating unmanned simulating scenes is determined；For each map in atlas, according to the behavior description of main vehicle and barrier, unmanned simulating scenes are created on map.The method of the embodiment of the present invention improves the efficiency for creating unmanned simulating scenes.
Description
Technical field
The present embodiments relate to computer application technology more particularly to a kind of creations of unmanned simulating scenes
Method and device.
Background technique
Pilotless automobile, i.e. unmanned vehicle, be it is a kind of collect numerous technologies such as automatic control, vision calculating, architecture in
The intelligent automobile of one, the Ride Control System based on computer system for relying primarily on car is unmanned to realize,
It is had broad application prospects in the various fields such as civilian and military.In order to improve the safety of unmanned vehicle, can meet
Application demand, it is essential for carrying out largely testing to it.The existing test mode for unmanned vehicle specifically includes that building nothing
People's vehicle test base tests, tests in real roads environment, emulation testing etc..Compared to building unmanned vehicle test
Base is tested, and high cost, the high risk tested in real roads environment, emulation testing with its low cost,
Being free from risk becomes an important means of unmanned vehicle test.
Carry out unmanned vehicle emulation testing, it is necessary first to create unmanned simulating scenes.Existing unmanned simulating scenes
Usually by manually determining the concrete form of scene according to unmanned simulating scenes descriptive statement, including section specifically occurs,
The position and motion conditions of main vehicle and obstacle vehicle, by interface operation be respectively completed main vehicle and obstacle vehicle traveling starting point,
Terminating point and the running track of obstacle vehicle and speed setting.When creating a large amount of simulating scenes, need manually to be repeated several times
Operation.
In conclusion the low efficiency of the creation method creation simulating scenes of existing unmanned simulating scenes, is unable to satisfy
A large amount of, the higher simulating scenes demand of renewal frequency needed for unmanned vehicle test.
Summary of the invention
The embodiment of the present invention provides the creation method and device of a kind of unmanned simulating scenes, to solve it is existing nobody
The problem of driving simulation scene creation low efficiency.
In a first aspect, the embodiment of the present invention provides a kind of creation method of unmanned simulating scenes, comprising:
The scene description sentence of the unmanned simulating scenes of input is received, scene description sentence includes for creating nobody
The behavior description of road description needed for driving simulation scene and main vehicle and barrier；
According to road description, the atlas for creating unmanned simulating scenes is determined；
For each map in atlas, according to the behavior description of main vehicle and barrier, nobody is created on map and is driven
Sail simulating scenes.
In one possible implementation, according to the behavior description of main vehicle and barrier, nobody is created on map and is driven
Sailing simulating scenes includes:
According to preset rules and the behavior description of main vehicle and barrier, the starting of main vehicle and barrier on map is determined
Track and speed of the position and barrier of point and terminating point on map；Preset rules include: the row of main vehicle and barrier
For description, with corresponding relationship between the position of main vehicle and barrier, distance and speed.
In one possible implementation, preset rules further include each ginseng for creating unmanned simulating scenes
Incidence relation between number, parameter include location parameter, distance parameter and speed parameter；
Then method further include: the value for changing any parameter in parameters changes other parameters according to incidence relation
Value, creation meets multiple unmanned simulating scenes of scene description sentence on map.
In one possible implementation, road description includes road type and traffic lights；Main vehicle and barrier
Behavior description include: the behavior description of main vehicle, the type of barrier, the position of barrier, barrier behavior description and barrier
The interactive process of object and main vehicle is hindered to describe.
In one possible implementation, according to road description, the ground for creating unmanned simulating scenes is determined
Atlas, comprising:
According to road description, the map feature value for creating unmanned simulating scenes is determined；
Interception meets all subgraphs of map characteristic value in the map for carrying out pavement marker, is formed for creating nobody
The atlas of driving simulation scene.
In one possible implementation, according to road description, the ground for creating unmanned simulating scenes is determined
Atlas, comprising:
According to road description, the map filtration needs for creating unmanned simulating scenes are determined；
Using map filtration needs, it is filtered, is met to previously according to the sub-collective drawing that road type decomposes
The atlas of demand.
Second aspect, the embodiment of the present invention provide a kind of creating device of unmanned simulating scenes, comprising:
Receiving module, the scene description sentence of unmanned simulating scenes for receiving input, scene description sentence packet
Containing the behavior description for road description and main vehicle and barrier needed for creating unmanned simulating scenes；
Determining module, for determining the atlas for creating unmanned simulating scenes according to road description；
Creation module, each map for being directed in atlas, according to the behavior description of main vehicle and barrier, in map
The upper unmanned simulating scenes of creation.
In one possible implementation, creation module is specifically used for,
According to preset rules and the behavior description of main vehicle and barrier, the starting of main vehicle and barrier on map is determined
Track and speed of the position and barrier of point and terminating point on map；Preset rules include: the row of main vehicle and barrier
For description, with corresponding relationship between the position of main vehicle and barrier, distance and speed.
In one possible implementation, preset rules further include each ginseng for creating unmanned simulating scenes
Incidence relation between number, parameter include location parameter, distance parameter and speed parameter；
Then creation module is also used to, and the value for changing any parameter in parameters changes other ginsengs according to incidence relation
Several values, creation meets multiple unmanned simulating scenes of scene description sentence on map.
In one possible implementation, road description includes road type and traffic lights；Main vehicle and barrier
Behavior description include: the behavior description of main vehicle, the type of barrier, the position of barrier, barrier behavior description and barrier
The interactive process of object and main vehicle is hindered to describe.
In one possible implementation, determining module is specifically used for,
According to road description, the map feature value for creating unmanned simulating scenes is determined；
Interception meets all subgraphs of map characteristic value in the map for carrying out pavement marker, is formed for creating nobody
The atlas of driving simulation scene.
In one possible implementation, determining module is specifically used for,
According to road description, the map filtration needs for creating unmanned simulating scenes are determined；
Using map filtration needs, it is filtered, is met to previously according to the sub-collective drawing that road type decomposes
The atlas of demand.
The third aspect, the embodiment of the present invention provide a kind of electronic equipment, comprising:
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor with reality
Now such as the described in any item methods of first aspect.
Fourth aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
The computer program is executed by processor to realize such as the described in any item methods of first aspect.
The creation method and device of unmanned simulating scenes provided in an embodiment of the present invention, by receive input include
Behavior description for road description and main vehicle needed for creating unmanned simulating scenes and barrier is unmanned imitative
The scene description sentence of true scene determines the atlas for creating unmanned simulating scenes, for ground according to road description
Each map in atlas creates unmanned simulating scenes according to the behavior description of main vehicle and barrier on map, realizes
Automatically parsing for scene description sentence, improves the creation efficiency of unmanned simulating scenes.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows and meets implementation of the invention
Example, and be used to explain the principle of the present invention together with specification.
Fig. 1 is the flow chart of one embodiment of creation method of unmanned simulating scenes provided by the invention；
Fig. 2 is the schematic diagram of unmanned one embodiment of simulating scenes of creation provided by the invention；
Fig. 3 is the flow chart of the another embodiment of creation method of unmanned simulating scenes provided by the invention；
Fig. 4 is the structural schematic diagram of one embodiment of creating device of unmanned simulating scenes provided by the invention；
Fig. 5 is the structural schematic diagram of one embodiment of electronic equipment provided by the invention.
Through the above attached drawings, it has been shown that the specific embodiment of the present invention will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of the inventive concept in any manner with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate idea of the invention.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistented with the present invention.On the contrary, they be only with it is such as appended
The example of device and method being described in detail in claims, some aspects of the invention are consistent.
Term " includes " and " having " and their any deformations in description and claims of this specification, it is intended that
It is to cover and non-exclusive includes.Such as the process, method, system, product or equipment for containing a series of steps or units do not have
It is defined in listed step or unit, but optionally further comprising the step of not listing or unit, or optionally also wrap
Include the other step or units intrinsic for these process, methods, product or equipment.
" first " and " second " in the present invention only plays mark action, be not understood to indicate or imply ordinal relation,
Relative importance or the quantity for implicitly indicating indicated technical characteristic." multiple " refer to two or more." and/
Or ", the incidence relation of affiliated partner is described, indicates may exist three kinds of relationships, for example, A and/or B, can indicate: individually depositing
In A, A and B, these three situations of individualism B are existed simultaneously.It is a kind of "or" that character "/", which typicallys represent forward-backward correlation object,
Relationship.
" one embodiment " or " embodiment " mentioned in the whole text in specification of the invention means related with embodiment
A particular feature, structure, or characteristic include at least one embodiment of the application.Therefore, occur everywhere in the whole instruction
" in one embodiment " or " in one embodiment " not necessarily refer to identical embodiment.It should be noted that not rushing
In the case where prominent, the feature in embodiment and embodiment in the present invention be can be combined with each other.
It should be noted that main vehicle indicates that unmanned vehicle to be tested, barrier are indicated to master in various embodiments of the present invention
Vehicle generates all objects of interference, and the type of barrier may include: motor vehicles, non power driven vehicle, pedestrian, static roadblock
Deng.
Fig. 1 is the flow chart of one embodiment of creation method of unmanned simulating scenes provided by the invention.Such as Fig. 1 institute
Show, method provided in this embodiment may include:
Step S101, the scene description sentence of the unmanned simulating scenes of input is received, scene description sentence includes to use
The behavior description of the road description needed for creating unmanned simulating scenes and main vehicle and barrier.
The scene description sentence of unmanned simulating scenes is using Human Natural Language for unmanned simulating scenes
Popular description.The present invention is directed to the scene description sentence of natural language description will be used to be automatically converted to computer it will be appreciated that
Numeralization specific descriptions, for example, being converted into the coordinate value, driving trace, speed etc. put on map.Several tools are set forth below
The scene description sentence of the unmanned simulating scenes of body is illustrated: main vehicle is kept straight on straight trip road, obstacle Che Congzhu vehicle
It overtakes other vehicles left back；Barrier is static on the left of the crossing of four crossway, and main vehicle turns left at the parting of the ways.
It is understood that the scene description sentences of unmanned simulating scenes can be by way of voice, text
Form or the form of file are inputted.
Scene description sentence is contained for road description and main vehicle needed for creating unmanned simulating scenes and barrier
Hinder the behavior description of object.Optionally, road description may include road type and traffic lights；The behavior of main vehicle and barrier
Description may include: the behavior description and obstacle of the behavior description of main vehicle, the type of barrier, the position of barrier, barrier
The interactive process of object and main vehicle describes.Road type include but is not limited to four crossway, T-shaped road, straight trip road, whether there is or not pavement, specially
With lane, lane quantity；The description of traffic lights may include the situation of change whether there is or not traffic lights and light color.The row of main vehicle
To include but is not limited to keep straight on, turn left, turn right, turn around；The type of barrier includes but is not limited to motor vehicles, non-motor vehicle
, pedestrian, static roadblock etc.；The behavior of barrier is including but not limited to static, keeps straight on, turns left, turning right, turning around；Obstacle
The interactive process of object and main vehicle include but is not limited to overtake other vehicles, meeting, hide, lane-change etc..
Step S102, according to road description, the atlas for creating unmanned simulating scenes is determined.
Atlas in the present embodiment is related road description in the scene description sentence for meet unmanned simulating scenes,
It can be used in creating the set of the map of unmanned simulating scenes.
If road description instruction, which creates unmanned simulating scenes, needs the cross section of traffic lights, atlas can be with
Including the cross sections for being equipped with traffic lights all in map to be tested.
Step S103, it is created on map for each map in atlas according to the behavior description of main vehicle and barrier
Build unmanned simulating scenes.
Optionally, according to the behavior description of main vehicle and barrier, unmanned simulating scenes are created on map be can wrap
It includes:
According to preset rules and the behavior description of main vehicle and barrier, the starting of main vehicle and barrier on map is determined
Track and speed of the position and barrier of point and terminating point on map；Preset rules include: the row of main vehicle and barrier
For description, with corresponding relationship between the position of main vehicle and barrier, distance and speed.
It is understood that preset rules can be configured according to emulation testing demand and/or actual traffic rules.
The present embodiment does not do the particular content and form of preset rules specifically limited.If the scene description sentence received are as follows: barrier
Hinder object static on the left of the crossing of four crossway, main vehicle turns left at the parting of the ways, then the simulating scenes created according to preset rules
It can be with are as follows: the starting point of main vehicle is located at the leftmost side lane apart from the 150m of crossroad at, and barrier is located at close crossroad one
Side, stationary at 50 meters of main front side, the terminating point of main vehicle is located at the leftmost side lane of road on the left of crossroad, distance
At 80 meters of crossroad.If the scene description sentence received are as follows: main vehicle is turned right at the parting of the ways, and obstacle vehicle lane change is cut out, then
It can be with according to the simulating scenes of preset rules creation are as follows: the starting point of main vehicle is located at the rightmost side vehicle at the 150m of crossroad
Road, terminating point are located at road rightmost side lane on the right side of crossroad, and at 80 meters of crossroad, the starting point of obstacle vehicle is located at
In front of the starting point of main vehicle at 50 meters, the track of obstacle vehicle is 20 meters of rear left lane change left-hand lanes of straight trip and keeps straight on, obstacle vehicle
Velocity variations are configured according to default index.
Preset rules cover whole simulating scenes to be tested, so as to complete to any scene description language from
Dynamic parsing, completes the creation of simulating scenes.Optionally, same simulating scenes can be set with different preset rules, so as to
Further enrich the unmanned simulating scenes created.
The creation method of unmanned simulating scenes provided in this embodiment passes through containing for creating for reception input
The field of the unmanned simulating scenes of the behavior description of road description needed for unmanned simulating scenes and main vehicle and barrier
Scene describing sentence determines the atlas for creating unmanned simulating scenes, for every in atlas according to road description
A map creates unmanned simulating scenes on map, realizes for scene according to the behavior description of main vehicle and barrier
Descriptive statement automatically parses, and improves the creation efficiency of unmanned simulating scenes.
On the basis of the above embodiments, in order to further enrich the unmanned simulating scenes created, nobody is improved
The creation efficiency of driving simulation scene, the preset rules in the creation method of unmanned simulating scenes provided in this embodiment are also
It may include for creating the incidence relation between the parameters of unmanned simulating scenes, parameter may include position ginseng
Number, distance parameter and speed parameter.Then method can also include: to change the value of any parameter in parameters, according to association
Relationship changes the value of other parameters, and creation meets multiple unmanned simulating scenes of scene description sentence on map.
Method provided in this embodiment is illustrated below by a specific example.Fig. 2 provides for the present invention
Unmanned one embodiment of simulating scenes of creation schematic diagram.The field of the unmanned simulating scenes received in the present embodiment
Scene describing sentence are as follows: main vehicle is kept straight on straight trip road, and the left back of obstacle Che Congzhu vehicle is overtaken other vehicles.It can according to the scene description sentence
Using the type for determining barrier in the present embodiment as vehicle, the atlas that can be used for creating the simulating scenes can be number of track-lines
Greater than 2 and distance is greater than the atlas that 500 meters of straight trip road is constituted.Fig. 2 shows create on a map in the atlas
The unmanned simulating scenes built.As shown in Fig. 2, the map is the map of unidirectional two-way traffic, vehicle 1 is main vehicle, and vehicle 2 is barrier
Hinder vehicle, right-hand lane when vehicle 1 originates in two-way traffic, left-hand lane when vehicle 2 originates in two-way traffic, position
3 indicate the start position in map lane.
Wherein, location point A1Indicate the initial point position of main vehicle, location point A2Indicate the terminating point position of main vehicle, location point
B1Indicate the initial point position of obstacle vehicle, location point B2Indicate the position of obstacle vehicle lane change starting point, location point B3Indicate obstacle vehicle
The position of lane change end point, location point B4Indicate the terminating point position of obstacle vehicle.Distance l0Indicate the initial point position A of main vehicle1With
Terminating point position A2The distance between, A1With A2Between realization be understood that for main vehicle driving trace；Distance l1Indicate obstacle
The initial point position B of vehicle1The distance between the start position 3 in map lane；Distance l2Indicate the initial point position B of obstacle vehicle1
With the initial point position A of main vehicle1The distance between；Distance l3Indicate the initial point position B of obstacle vehicle1Start with obstacle vehicle lane change
Point position B2The distance between；Distance l4Indicate obstacle vehicle lane change starting point position B2With obstacle vehicle lane change end point position B3It
Between distance；Distance l5Indicate obstacle vehicle lane change end point position B3With the terminating point position B of obstacle vehicle4The distance between.It needs
Illustrate, the measurement of location point and distance in the present embodiment is measured with vehicle head, for the length of vehicle
It does not consider.
The behavior description of main vehicle and barrier according to included by preset rules, with the position of main vehicle and barrier, distance
Corresponding relationship between speed can determine l in the present embodiment0It is 160 meters, l1It is 10 meters, l2It is 30 meters, l3It is 120 meters, l4
It is 20 meters, l5It is 80 meters, main vehicle is in A1Speed at point is 2 meter per seconds, and obstacle vehicle is in B1Speed at point is 5 meter per seconds, obstacle vehicle
In B2Speed at point is 12 meter per seconds, and obstacle vehicle is in B3Speed at point is 12 meter per seconds.
It is understood that when increasing l2When, need to increase obstacle vehicle in B1Speed and obstacle vehicle at point is in B2At point
Speed, to guarantee that obstacle vehicle can be cut from main front side.Therefore, preset rules can also include unmanned imitative for creating
Incidence relation between the parameters of true scene, to be realized according to the incidence relation between parameters for parameters
The unified adjustment of value, i.e., the value of any parameter changes taking for other parameters according to incidence relation in change parameters
Value, can create the multiple unmanned simulating scenes for meeting scene description sentence on same map.
Based on any of the above embodiments, below using several specific embodiments for how to be retouched according to road
It states, determination is described in detail for creating the atlas of unmanned simulating scenes.
Optionally, it according to road description, determines the atlas for creating unmanned simulating scenes, may include:
According to road description, the map feature value for creating unmanned simulating scenes is determined.
It is understood that map feature value can be following road descriptions combination: whether there is or not traffic lights, crossroad,
T-shaped road junction, unidirectional bicycle road, unidirectional two-way traffic, unidirectional three lanes, straight trip road, whether there is or not pavement, left-hand rotation special lane, turn right specially
With road etc..
Interception meets all subgraphs of map characteristic value in the map for carrying out pavement marker, is formed for creating nobody
The atlas of driving simulation scene.
Optionally, it has carried out may include one or more of following label label in the map of pavement marker:
Each crossing in map is marked.Such as whether traffic lights can be provided with according to the crossing, by the road
Mouth is labeled as the crossing with/without traffic lights.
Marking the crossing according to the road number for the four direction for entering crossing is four crossway or T-shaped road.Optionally,
It can also be marked according to the road number for all directions for entering crossing, the road number for such as entering a crossing is five
A, can mark the crossing is five branch roads.
Marking the lane according to the number in the unidirectional lane of road is unidirectional bicycle road, unidirectional two-way traffic or unidirectional three vehicle
Road.Optionally, it can also be marked according to the number of two-way lane, such as two-way two-way traffic, two-way four-lane, two-way six-lane
Deng.
Any two are not included with the section between the crossing at other crossings labeled as straight trip road.
Whether can include that left-hand rotation special lane label or right-hand rotation special lane mark according to crossing periphery element, lane is marked
Remember left-hand rotation special lane or right-hand rotation special lane.
Whether can include pavement label according to crossing periphery element, be pavement by pavement marker.
Uniline mark whether can be provided with according to road to be marked, can be single by pavement marker if being provided with
Walking along the street.
In order to enable emulation testing really to reflect the automatic Pilot ability of main vehicle, the map in the present embodiment can be chosen
Real roads map can such as choose the road-map-data in each city for being tested.
Optionally, all subgraphs that interception meets map characteristic value in the map for carrying out pavement marker can be according to pre-
If interception control parameter intercepted.Optionally, preset interception control parameter, may include one of parameters described below or
It is a variety of:
Subgraph center position, subgraph size, subgraph shape.
For example, determining that the map feature value for creating unmanned simulating scenes is red green to have when according to road description
Four crossway when, can first be chosen from the map for carrying out pavement marker it is all mark be section, then again from
The section for wherein filtering out traffic lights intercepts required subgraph.Two road crosspoint in four crossway can be chosen and be used as son
The position of figure central point, the shape that can be set interception subgraph is square, rectangle, circle etc., can pass through setting interception
Subgraph along crossroad to four direction extend pre-determined distance the area of pictural surface is configured.
Optionally, it according to road description, determines the atlas for creating unmanned simulating scenes, may include:
According to road description, the map filtration needs for creating unmanned simulating scenes are determined.
For example, surmounting the simulating scenes of main vehicle for obstacle vehicle right back, need are filtered according to the map that road description determines
Can be greater than for length by asking by 500 meters, and unidirectional number of track-lines is greater than 2 straight trip road.
Using map filtration needs, it is filtered, is met to previously according to the sub-collective drawing that road type decomposes
The atlas of demand.
The set of road type and sub-graph data, example can be expressed as previously according to the sub-collective drawing that road type decomposes
Such as, the sub-collective drawing decomposed according to road type can indicate are as follows:
Sub-collective drawing 1:{ is without traffic lights four crossway: [road 11:(map_data_11) ..., road 1n:(map_data_
1n)]}；
Sub-collective drawing 2:{ has traffic lights to have pavement T-shaped road: [road 21:(map_data_21) ..., road 2m:
(map_data_2m)]}；
Sub-collective drawing 3:{ straight trip road: [road 31:(map_data_31) ..., road 3p:(map_data_3p)]；
Sub-collective drawing 4:{ has traffic lights four crossway: [road 41:(map_data_41) ..., road 4q:(map_data_
4q)]}。
In decomposing obtained sub-collective drawing in advance, all subgraphs for meeting map filtration needs are chosen, for creating nobody
Driving simulation scene.For example, unidirectional number of track-lines is greater than 2 straight trip road, then may be used if map filtration needs are that length is greater than 500 meters
To be then greater than 2 antithetical phrases according to unidirectional number of track-lines first according to straight trip road to being filtered to obtain sub-collective drawing 3 in 4 sub-collective drawings
P subgraph for including in atlas 3 is filtered, and the straight trip way atlas that unidirectional number of track-lines is greater than 2 is obtained, further according to length
Degree is greater than 500 meters and is further filtered, and finally obtains meeting map filtration needs from p subgraph in sub-collective drawing 3
Whole subgraphs form the atlas for creating unmanned simulating scenes.
On the basis of the above embodiments, the present embodiment is combined above-described embodiment, provides a specific implementation
Example.Fig. 3 is the flow chart of the another embodiment of creation method of unmanned simulating scenes provided by the invention.As shown in figure 3, this
Embodiment provide method may include:
Step S301, the scene description sentence of the unmanned simulating scenes of input is received, scene description sentence includes to use
The behavior description of the road description needed for creating unmanned simulating scenes and main vehicle and barrier.
Step S302, according to road description, the map filtration needs for creating unmanned simulating scenes are determined.
Step S303, it using map filtration needs, is filtered to previously according to the sub-collective drawing that road type decomposes,
Obtain the atlas of meet demand.
Step S304, it for each map in atlas, is retouched according to the behavior of preset rules and main vehicle and barrier
State, determine the track of the position and barrier of the starting point and ending point of main vehicle and barrier on map on map and
Speed.Wherein, preset rules may include: the behavior description of main vehicle and barrier, with the position of main vehicle and barrier, distance
Corresponding relationship between speed.
The creation method of unmanned simulating scenes provided in this embodiment, is retouched according to the scene of unmanned simulating scenes
Road description in predicate sentence determines the map filtration needs for creating unmanned simulating scenes, and being filtered using map is needed
It asks, is filtered to previously according to the sub-collective drawing that road type decomposes, obtain can be used for creating nobody and driving for meet demand
The atlas for sailing simulating scenes no longer needs to repeatedly be searched by artificial to map when creating a large amount of simulating scenes, and needle
Each map that map is concentrated determines main vehicle and barrier according to preset rules and the behavior description of main vehicle and barrier
The track and speed of the position of starting point and ending point on map and barrier on map, realize for scene
Descriptive statement automatically parses, and completes the creation of unmanned simulating scenes, saves the time of creation simulating scenes, improves
The creation efficiency of unmanned simulating scenes.
The embodiment of the present invention also provides a kind of creating device of unmanned simulating scenes, shown in Figure 4, the present invention
Embodiment is only illustrated by taking Fig. 4 as an example, is not offered as that present invention is limited only to this.Fig. 4 is provided by the invention unmanned imitative
The structural schematic diagram of one embodiment of creating device of true scene.As shown in figure 4, unmanned simulating scenes provided in this embodiment
Creating device 40 may include: receiving module 401, determining module 402 and creation module 403.
Receiving module 401, the scene description sentence of unmanned simulating scenes for receiving input, scene description sentence
Include the behavior description for road description and main vehicle and barrier needed for creating unmanned simulating scenes.
Determining module 402, for determining the atlas for creating unmanned simulating scenes according to road description.
Creation module 403, for for each map in atlas, according to the behavior description of main vehicle and barrier,
Unmanned simulating scenes are created on map.
The device of the present embodiment can be used for executing the technical solution of embodiment of the method shown in Fig. 1, realization principle and skill
Art effect is similar, and details are not described herein again.
Optionally, creation module 403 specifically can be used for,
According to preset rules and the behavior description of main vehicle and barrier, the starting of main vehicle and barrier on map is determined
Track and speed of the position and barrier of point and terminating point on map；Preset rules include: the row of main vehicle and barrier
For description, with corresponding relationship between the position of main vehicle and barrier, distance and speed.
Optionally, preset rules can also include for creating the association between the parameters of unmanned simulating scenes
Relationship, parameter include location parameter, distance parameter and speed parameter；
Then creation module 403 can be also used for, and the value for changing any parameter in parameters changes according to incidence relation
The value for becoming other parameters, creation meets multiple unmanned simulating scenes of scene description sentence on map.
Optionally, road description may include road type and traffic lights；The behavior description packet of main vehicle and barrier
It includes: the behavior description of main vehicle, the type of barrier, the position of barrier, the behavior description of barrier and barrier and main vehicle
Interactive process description.
Optionally, determining module 402 specifically can be used for,
According to road description, the map feature value for creating unmanned simulating scenes is determined；
Interception meets all subgraphs of map characteristic value in the map for carrying out pavement marker, is formed for creating nobody
The atlas of driving simulation scene.
Optionally, determining module 402 specifically can be used for,
According to road description, the map filtration needs for creating unmanned simulating scenes are determined；
Using map filtration needs, it is filtered, is met to previously according to the sub-collective drawing that road type decomposes
The atlas of demand.
The embodiment of the present invention also provides a kind of electronic equipment, shown in Figure 5, and the embodiment of the present invention is only by taking Fig. 5 as an example
It is illustrated, is not offered as that present invention is limited only to this.Fig. 5 is the structural representation of one embodiment of electronic equipment provided by the invention
Figure.The electronic equipment can be terminal device, such as computer, tablet device, personal digital assistant；It can also be that network is set
It is standby, including but not limited to single network server, multiple network servers composition server group or based on cloud computing by big
Measure the cloud that computer or network server are constituted, wherein cloud computing is one kind of distributed computing, by the meter of a group loose couplings
One super virtual computer of calculation machine composition.As shown in figure 5, electronic equipment 50 provided in this embodiment may include: storage
Device 501, processor 502 and bus 503.Wherein, bus 503 is for realizing the connection between each element.
Computer program is stored in memory 501, computer program may be implemented above-mentioned when being executed by processor 502
The technical solution of the creation method for the unmanned simulating scenes that one embodiment of the method provides.
Wherein, be directly or indirectly electrically connected between memory 501 and processor 502, with realize data transmission or
Interaction.It is electrically connected for example, these elements can be realized between each other by one or more of communication bus or signal wire, such as
It can be connected by bus 503.The computer journey for realizing the creation method of unmanned simulating scenes is stored in memory 501
Sequence, the software function module that can be stored in the form of software or firmware including at least one in memory 501, processor 502
By running the software program and module that are stored in memory 501, thereby executing various function application and data processing.
Memory 501 may be, but not limited to, random access memory (Random Access Memory, referred to as:
RAM), read-only memory (Read Only Memory, referred to as: ROM), programmable read only memory (Programmable
Read-Only Memory, referred to as: PROM), erasable read-only memory (Erasable Programmable Read-Only
Memory, referred to as: EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-
Only Memory, referred to as: EEPROM) etc..Wherein, memory 501 is for storing program, and processor 502 refers to receiving execution
After order, program is executed.Further, the software program in above-mentioned memory 501 and module may also include operating system, can
Including the various component softwares for management system task (such as memory management, storage equipment control, power management etc.) and/or
Driving, and can be in communication with each other with various hardware or component software, to provide the running environment of other software component.
Processor 502 can be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 502 can
To be general processor, including central processing unit (Central Processing Unit, referred to as: CPU), network processing unit
(Network Processor, referred to as: NP) etc..It may be implemented or execute disclosed each method, the step in the embodiment of the present invention
Rapid and logic diagram.General processor can be microprocessor or the processor is also possible to any conventional processor etc..
It is appreciated that Fig. 5 structure be only illustrate, can also include than shown in Fig. 5 more perhaps less component or have with
Different configuration shown in Fig. 5.Each component shown in Fig. 5 can use hardware and/or software realization.
The embodiment of the present invention also provides a kind of computer readable storage medium, is stored thereon with computer program, computer
The creation method for the unmanned simulating scenes that any of the above-described embodiment of the method provides may be implemented when program is executed by processor.
Computer readable storage medium in the present embodiment can be any usable medium that computer can access, or include one
Data storage devices, the usable mediums such as a or multiple usable mediums integrated server, data center can be magnetic medium,
(for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as SSD) etc..
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (14)
1. a kind of creation method of unmanned simulating scenes characterized by comprising
The scene description sentence of the unmanned simulating scenes of input is received, the scene description sentence includes for creating nobody
The behavior description of road description needed for driving simulation scene and main vehicle and barrier；
According to the road description, the atlas for creating the unmanned simulating scenes, the road description packet are determined
Include road type and traffic lights；
It is created on the map for each map in the atlas according to the behavior description of the main vehicle and barrier
Build the unmanned simulating scenes.
2. the method according to claim 1, wherein the behavior description according to the main vehicle and barrier,
Creating the unmanned simulating scenes on the map includes:
According to preset rules and the behavior description of the main vehicle and barrier, determine the main vehicle and the barrier described
The position of starting point and ending point on map and the barrier track on the map and speed；It is described default
Rule includes: the behavior description of main vehicle and barrier, and corresponding between the position of main vehicle and barrier, distance and speed is closed
System.
3. according to the method described in claim 2, it is characterized in that, the preset rules further include for create it is described nobody drive
The incidence relation between the parameters of simulating scenes is sailed, the parameter includes location parameter, distance parameter and speed parameter；
Then the method also includes: change the value of any parameter in the parameters, according to the incidence relation, change it
The value of his parameter, creation meets multiple unmanned simulating scenes of the scene description sentence on the map.
4. the method according to claim 1, wherein
The behavior description of the main vehicle and barrier include: the behavior description of main vehicle, the type of barrier, barrier position,
The behavior description and barrier of barrier and the interactive process of main vehicle describe.
5. method according to claim 1-4, which is characterized in that it is described according to the road description, it determines and uses
In the atlas for creating the unmanned simulating scenes, comprising:
According to the road description, the map feature value for creating the unmanned simulating scenes is determined；
Interception meets all subgraphs of the map feature value in the map for carrying out pavement marker, is formed described for creating
The atlas of the unmanned simulating scenes.
6. method according to claim 1-4, which is characterized in that it is described according to the road description, it determines and uses
In the atlas for creating the unmanned simulating scenes, comprising:
According to the road description, the map filtration needs for creating the unmanned simulating scenes are determined；
Using the map filtration needs, it is filtered, is met to previously according to the sub-collective drawing that road type decomposes
The atlas of demand.
7. a kind of creating device of unmanned simulating scenes characterized by comprising
Receiving module, the scene description sentence of unmanned simulating scenes for receiving input, the scene description sentence packet
Containing the behavior description for road description and main vehicle and barrier needed for creating unmanned simulating scenes；
Determining module, for determining the atlas for creating the unmanned simulating scenes, institute according to the road description
Stating road description includes road type and traffic lights；
Creation module, for for each map in the atlas, according to the behavior description of the main vehicle and barrier,
The unmanned simulating scenes are created on the map.
8. device according to claim 7, which is characterized in that the creation module is specifically used for,
According to preset rules and the behavior description of the main vehicle and barrier, determine the main vehicle and the barrier described
The position of starting point and ending point on map and the barrier track on the map and speed；It is described default
Rule includes: the behavior description of main vehicle and barrier, and corresponding between the position of main vehicle and barrier, distance and speed is closed
System.
9. device according to claim 8, which is characterized in that the preset rules further include for create it is described nobody drive
The incidence relation between the parameters of simulating scenes is sailed, the parameter includes location parameter, distance parameter and speed parameter；
Then the creation module is also used to, and changes the value of any parameter in the parameters, according to the incidence relation, is changed
Become the value of other parameters, creation meets multiple unmanned simulating scenes of the scene description sentence on the map.
10. device according to claim 7, which is characterized in that
The behavior description of the main vehicle and barrier include: the behavior description of main vehicle, the type of barrier, barrier position,
The behavior description and barrier of barrier and the interactive process of main vehicle describe.
11. according to the described in any item devices of claim 7-10, which is characterized in that the determining module is specifically used for,
According to the road description, the map feature value for creating the unmanned simulating scenes is determined；
Interception meets all subgraphs of the map feature value in the map for carrying out pavement marker, is formed described for creating
The atlas of the unmanned simulating scenes.
12. according to the described in any item devices of claim 7-10, which is characterized in that the determining module is specifically used for,
According to the road description, the map filtration needs for creating the unmanned simulating scenes are determined；
Using the map filtration needs, it is filtered, is met to previously according to the sub-collective drawing that road type decomposes
The atlas of demand.
13. a kind of electronic equipment characterized by comprising
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor to realize such as
The creation method of unmanned simulating scenes described in any one of claims 1-6.
14. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, the computer program
It is executed by processor the creation method to realize unmanned simulating scenes as claimed in any one of claims 1 to 6.
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