WO2021159357A1

WO2021159357A1 - Traveling scenario information processing method and apparatus, electronic device, and readable storage medium

Info

Publication number: WO2021159357A1
Application number: PCT/CN2020/074958
Authority: WO
Inventors: 徐勋农
Original assignee: 深圳元戎启行科技有限公司
Priority date: 2020-02-12
Filing date: 2020-02-12
Publication date: 2021-08-19
Also published as: CN113574530A

Abstract

Provided is a traveling scenario information processing method, comprising: acquiring traveling scenario configuration information, wherein the traveling scenario configuration information comprises a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and a behavior parameter value corresponding to the virtual object type (step 202); determining a corresponding virtual object behavior operation according to the virtual object behavior identifier (step 204); and executing the virtual object behavior operation according to the virtual object type and the behavior parameter value (step 206).

Description

Driving scene information processing method, device, electronic equipment and readable storage medium

Technical field

This application relates to the field of vehicle technology, and in particular, to a method, device, electronic device, and readable storage medium for processing driving scene information.

Background technique

At present, the simulation of intelligent objects in virtual scenes is mainly designed according to the virtual scenes stipulated in existing laws and regulations. In the traditional driving scene information processing method, a separate file is designed according to the requirements of each virtual driving scene to realize the requirements of the scene. However, the traditional driving scene information processing method has the problem of poor scalability of the program.

Summary of the invention

According to various embodiments of the present application, a method, an apparatus, an electronic device, and a readable storage medium for processing driving scene information are provided.

A method for processing driving scene information, including: acquiring driving scene configuration information, the driving scene configuration information including a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and behavior parameters corresponding to the virtual object type Value; determine the corresponding virtual object behavior operation according to the virtual object behavior identifier; execute the virtual object behavior operation according to the virtual object type and the behavior parameter value.

A driving scene information processing device, the device comprising: an acquisition module for acquiring driving scene configuration information, where the driving scene configuration information includes a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and all The behavior parameter value corresponding to the virtual object type; a determining module, configured to determine the corresponding virtual object behavior operation according to the virtual object behavior identifier; an execution module, configured to execute the virtual object type and the behavior parameter value Virtual object behavior operation.

An electronic device includes a memory and a processor, and the memory stores a computer program. When the computer program is executed by the processor, the processor is caused to perform the following operations: obtaining driving scene configuration information, and The scene configuration information includes the virtual object behavior identifier, the virtual object type corresponding to the virtual object behavior identifier, and the behavior parameter value corresponding to the virtual object type; the corresponding virtual object behavior operation is determined according to the virtual object behavior identifier; The virtual object type and the behavior parameter value execute the virtual object behavior operation.

A computer-readable storage medium, on which a computer program is stored, when the computer program is executed by a processor, the following operations are realized: obtaining driving scene configuration information, where the driving scene configuration information includes a virtual object behavior identification, the virtual The virtual object type corresponding to the object behavior identifier and the behavior parameter value corresponding to the virtual object type; determine the corresponding virtual object behavior operation according to the virtual object behavior identifier; execute the virtual object type according to the virtual object type and the behavior parameter value Virtual object behavior operation.

The embodiment of the application obtains behavioral scene configuration information, where the behavioral scene configuration information includes the virtual object behavior identifier and the behavior parameter value corresponding to the virtual object type, the virtual object behavior operation that needs to be performed can be determined according to the virtual object identifier, and according to the virtual object The type and corresponding behavior parameter values perform virtual object behavior operations, that is, the behavior scene configuration information describes the virtual object behavior operations that need to be performed, and what is the parameter value corresponding to the virtual object behavior operations, which can realize the configurability of the scene and behavior. You only need to modify the virtual object behavior identification and behavior parameter values to perform different virtual object behavior operations, which is more convenient to use, and the program has high scalability.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

Fig. 1 is a schematic diagram of the internal structure of an electronic device in an embodiment.

Fig. 2 is a flowchart of a method for processing driving scene information in an embodiment.

Fig. 3 is a schematic flowchart of a method for processing driving scene information in another embodiment.

Fig. 4 is a schematic flowchart of an operation of determining a behavior of a virtual object in an embodiment.

Fig. 5 is a schematic diagram of the relationship between basic behavior identifiers in an embodiment.

Fig. 6 is a schematic flowchart of an operation of determining a behavior of a virtual object in an embodiment.

Fig. 7 is a structural block diagram of a driving scene information processing device in an embodiment.

Detailed ways

In one embodiment, as shown in FIG. 1, a schematic diagram of the internal structure of an electronic device is provided. The electronic device in FIG. 1 may specifically be a personal computer, a notebook computer, a smart phone, a tablet computer, a portable wearable device, and the like. The electronic device includes a processor, a memory, and a display screen connected through a system bus. Among them, the processor is used to provide computing and control capabilities to support the operation of the entire electronic device. The memory is used to store data, programs, and/or instruction codes, etc., and at least one computer program is stored in the memory, and the computer program can be executed by a processor to implement the memory processing method suitable for electronic devices provided in the embodiments of the present application. The memory may include non-volatile storage media such as magnetic disks, optical disks, read-only memory (Read-Only Memory, ROM), or random-access-memory (Random-Access-Memory, RAM). For example, in one embodiment, the memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system, a database, and a computer program. The database stores related data used to implement a driving scene information processing method provided by each of the above embodiments, for example, virtual object behavior operations can be stored. The computer program may be executed by a processor to implement a driving scene information processing method provided by each embodiment of the present application. The internal memory provides a cached operating environment for the operating system, database and computer program in the non-volatile storage medium. The display screen can be a touch screen, such as a capacitive screen or an electronic screen, used to display driving scenes, and can also be used to detect touch operations on the display screen and generate corresponding instructions, such as switching instructions for front and back applications. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the housing of the electronic device, or External keyboard, touchpad or mouse, etc.

Those skilled in the art can understand that the structure shown in FIG. 1 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device to which the solution of the present application is applied. For example, the electronic device may be a server, and the server may be implemented by an independent server or a server cluster composed of multiple servers. A specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement. For example, the electronic device also includes a network interface connected via a system bus. The network interface can be an Ethernet card or a wireless network card, etc., for communicating with external electronic devices, for example, for communicating with a server. For another example, there is no display connected via the system bus on the electronic device, or an external display device can be connected.

In one embodiment, as shown in FIG. 2, a method for processing driving scene information is provided. In this embodiment, the method is applied to the electronic device shown in FIG. 1 as an example for description. The driving scene information processing method includes:

Step 202: Acquire driving scene configuration information. The driving scene configuration information includes a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and behavior parameter values corresponding to the virtual object type.

Among them, the driving scene refers to a virtual driving scene of a virtual vehicle. Different types of virtual objects can be included in the driving scene. The types of virtual objects include road types, vehicle types, and traffic light types, and may also include at least one of pedestrian types, zebra crossing types, tree types, and building types. Virtual objects (smart agents) can be roads, vehicles, or traffic lights, and can also be at least one of pedestrians, zebra crossings, trees, or buildings. The number of virtual objects is not limited. For example, 2 pedestrians, 3 pedestrians, etc. may appear in the driving scene at the same time. For example, the driving scene may be a speed limit sign recognition and response scene, a parking yield sign marking line recognition and response scene, a lane line recognition and response scene, or a crosswalk line recognition and response scene, etc. are not limited to this. The driving scene may be a virtual scene stipulated in existing laws and regulations.

The virtual object behavior identifier refers to an identifier used to uniquely identify the virtual object behavior. The virtual object behavior identification can be composed of at least one of numbers, letters, characters, and symbols. For example, the behavior identifier of the virtual object may be a constant-speed straight-line driving identifier, or the identifier is 1, and the like is not limited to this. Virtual object behavior identification can be divided into basic behavior identification and abnormal behavior identification. The virtual object behavior identifier is used to determine the virtual object behavior operation. The behavior parameter value refers to the parameter value of the behavior parameter implemented by the virtual object. The behavior parameter value refers to the value corresponding to the variable. For example, when the virtual object type is a vehicle type, the behavior parameter value can be a parameter value related to changing lanes, such as how far away from the target car can be changed lanes, whether it is necessary to change multiple lanes continuously, and in each lane when changing lanes continuously The value of the time required to stay on the display, etc. Or, when following a car, the value of the safe distance from the vehicle in front, the maximum acceleration value when a rear-end collision may occur, etc. are not limited to this. When the virtual object type is a traffic light type, the corresponding behavior parameter value may refer to the duration of the red light, the duration of the green light, etc., which are not limited to this. When the virtual object type is a pedestrian type, the corresponding behavior parameter value may be a walking speed parameter value and the like is not limited thereto.

Each virtual object behavior identifier has a corresponding virtual object type and a behavior parameter value corresponding to the virtual object type.

Specifically, the driving scene configuration information may be saved in the driving scene configuration file. The driving scene configuration information includes virtual object behavior identifiers, virtual object types, and behavior parameter values corresponding to the virtual object types. For example, if the behavior identifier of the virtual object is a constant-speed straight-line driving identifier, and the type of the virtual object is a vehicle, then the behavior parameter corresponding to the virtual object type includes a speed parameter, and the corresponding behavior parameter value is a speed parameter value. The behavior parameter may also include the vehicle driving direction parameter, and the corresponding behavior parameter value is not limited to the vehicle driving direction parameter value.

In this embodiment, the driving scene configuration information may further include a behavior parameter corresponding to the behavior parameter value. Among them, the behavior parameter represents a variable. Behavior parameters can also be referred to as behavior parameter names. For example, the behavior parameter is A, and the behavior parameter value is 1.

Step 204: Determine a corresponding virtual object behavior operation according to the virtual object behavior identifier.

Among them, a virtual object behavior operation can be regarded as a virtual object behavior program module. A program module is used to realize a function. That is, a program module is used to perform a behavior. A virtual object behavior identifier corresponds to a virtual object behavior operation. Each virtual object behavior identifier has a corresponding virtual object behavior operation.

Specifically, the electronic device determines the corresponding virtual object behavior operation from the driving scene operation program according to the virtual object identifier. Wherein, the driving scene operation program may include at least one virtual object behavior operation.

Step 206: Perform a virtual object behavior operation according to the type of the virtual object and the corresponding behavior parameter value.

Among them, the virtual object behavior operation includes virtual object type parameters and behavior parameters corresponding to the virtual object type. The behavior parameter in the driving scene configuration information corresponds to the behavior parameter in the behavior operation of the virtual object. The behavior parameter value in the driving scene configuration information is used to assign a value to the corresponding behavior parameter in the behavior operation of the virtual object.

Specifically, the electronic device inputs the driving scene configuration file into the simulator executable file to control the virtual object corresponding to the virtual object type to implement the corresponding behavior. That is, the electronic device configures the behavior parameter value for the behavior parameter corresponding to the virtual object type in the driving scene operation program. Wherein, the simulator executable file includes the program code corresponding to the behavior operation of the virtual object.

In this embodiment, the electronic device can assign values to the behavior parameters in the behavior operation of the virtual object in the order of the behavior parameter values corresponding to the virtual object type.

In the above driving scene information processing method, the behavior scene configuration information includes the virtual object behavior identifier and the behavior parameter value corresponding to the virtual object type, and then the virtual object behavior operation that needs to be performed can be determined according to the virtual object identifier, according to the virtual object type and corresponding behavior The parameter values perform virtual object behavior operations, that is, the behavior scene configuration information describes the virtual object behavior operations that need to be performed, and what is the parameter value corresponding to the virtual object behavior operations, which can realize the configurability of the scene and behavior, and only need to modify the virtual object Behavior identification and behavior parameter values, you can perform different virtual object behavior operations, which is more convenient to use, and the program has high scalability; while the modules corresponding to each driving scene in the traditional way are independent of each other, it is obvious that it must be There will be some similar or even identical modules, and with the increase of driving scenes, there will be more and more duplicate codes. The method in the embodiments of this application is not easy to be repeated virtual object behavior operations, thereby reducing program compilation time. Reduce development and maintenance costs.

In addition, traditional methods have become more difficult to implement complex functions. In the traditional design mode, every time a new function is developed and a new scene is realized, it is necessary to build and design from scratch. With the continuous maturity of autonomous driving technology, the requirements for simulation testing are getting higher and higher, and the complexity of the scene and the degree of closeness to reality will only get higher and higher. It would be very time-consuming and labor-intensive if new features were completely re-developed every time. With the method in the embodiment of the present application, the behavior of the virtual object can be easily changed by changing the driving scene configuration information each time. This avoids the creation of too many classes of virtual objects, reduces the time of program compilation, and also reduces the cost of subsequent development and maintenance.

In one embodiment, as shown in FIG. 3, it is a schematic flowchart of a method for processing driving scene information in another embodiment. The driving scene configuration file corresponding to the driving scene configuration information may be a text document. The text document can be edited according to the specified protocol buffers file format. If the format of the driving scene configuration file is not correct, it will not be parsed and the program will not run normally. The electronic device transmits the driving scene configuration file as an input to the simulator executable file. The simulator runs on the back end, and sends the scene state to the scene visualization tool in real time, and displays it on the screen. Wherein, the simulator executable file includes at least one virtual object behavior operation.

//Sample driving scene configuration file format

Object ID: 1

Object type: vehicle

Initial state {

Location: Location information

Speed: speed information

}

Degree of intelligence {

Red light deceleration: yes/no

Drive along the lane: yes/no

}

Behavior parameters {

Parameter 1: Parameter 1 value

Parameter 2: Parameter 2 value

}

Among them, objects are virtual objects. The degree of intelligence can also be expressed by level. The higher the level, the higher the level of intelligence. Parameter 1 has the same parameter name in the virtual object behavior operation.

In one embodiment, the driving scene information processing method further includes: detecting an execution identifier corresponding to the virtual object behavior identifier; when the execution identifier is an executable identifier, performing an operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier.

Among them, the execution identifier can be used to determine whether to execute a certain virtual object behavior operation. Execution identification may include executable identification and non-executable identification. The execution flag can be a Boolean variable value. The Boolean variable (Boolean Variable) can be used in the driving scene configuration information to determine the virtual object behavior operation that needs to be performed. For example, the executable flag is 1, and the non-executable flag is 0; the executable flag is true, and the non-executable flag is false.

Specifically, the electronic device detects the execution identifier corresponding to the virtual object behavior identifier. When the execution identifier is an executable identifier, the corresponding virtual object behavior operation is determined according to the virtual object. When the execution flag is an unexecutable flag, the virtual object behavior operation is not executed.

In this embodiment, the behavior scenario configuration information may only include the executable identifier. When the execution identifier corresponding to the virtual object behavior identifier is an executable identifier, the corresponding virtual object behavior operation is determined according to the virtual object behavior identifier.

The aforementioned driving scene information processing method detects the execution identification corresponding to the virtual object behavior identification; when the execution identification is an executable identification, the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identification is performed, and then the execution identification can be determined by modifying the execution identification Which virtual object behavior operations are performed to improve the scalability of the program.

In one embodiment, the virtual object behavior identification includes a basic behavior identification; the basic behavior identification includes at least one of a constant-speed straight-line driving identification, a speed control identification, a lane-line driving identification, and a lane-changing driving identification. As shown in FIG. 4, it is a schematic diagram of the flow of determining a virtual object behavior operation in an embodiment. When the execution identifier is an executable identifier, performing the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier includes:

Step 402: When the execution flag corresponding to the constant-speed straight-line driving flag is an executable flag, determine that the corresponding operation is a constant-speed straight-line driving operation according to the constant-speed straight-line driving flag.

Among them, the basic behavior refers to the behavior of the vehicle when driving on the road. For example, driving in a straight line at a constant speed, driving in a lane change, driving at an acceleration, driving at a deceleration, etc. Specifically, it can be driving along the current lane at a constant speed, changing to an adjacent lane, slowing down when a red light at an intersection is detected, and stopping on the stop line, and following the car, you need to pay attention to the distance and relative speed of the vehicle in front, according to the current lane Speed limit adjusts the speed of the car, etc. The uniform-speed straight-line driving sign may be composed of at least one of numbers, characters, symbols, and letters. For example, the uniform speed straight driving indicator may be A. A constant-speed straight-line driving operation refers to the operation of a virtual vehicle walking along a straight line at a preset speed.

Specifically, the electronic device determines whether the execution identification corresponding to the constant-speed straight-line driving identification is an executable identification. When the execution flag corresponding to the constant-speed straight-line driving flag is an executable flag, the electronic device determines, according to the uniform-speed straight-line driving flag in the driving scene configuration file, that the corresponding operation is a uniform-speed straight-line driving operation. For example, the constant-speed straight-line driving flag is A, and the electronic device determines that the corresponding operation is A operation according to the A flag. The electronic device performs a straight-line driving operation at a constant speed according to the vehicle type and corresponding behavior parameter values. For example, the behavior parameter value includes the speed parameter value. The electronic device performs a straight-line driving operation at a constant speed according to the vehicle type and the corresponding speed parameter value.

Step 404: When the execution flag corresponding to the speed control flag is an executable flag, determine that the corresponding operation is a speed control operation according to the speed control flag.

Wherein, the speed control mark can be composed of at least one of numbers, characters, symbols, and letters. For example, the speed control flag can be B. The speed control operation can be used to control the acceleration or deceleration of the virtual vehicle.

Specifically, the electronic device determines whether the execution identification corresponding to the speed control identification is an executable identification. When the execution flag corresponding to the speed control flag is an executable flag, the electronic device determines that the corresponding operation is a speed control operation according to the speed control flag in the driving scene file. The electronic device can perform speed control operations according to the vehicle type and corresponding behavior parameter values. For example, the behavior parameter value includes an acceleration parameter value. The electronic device performs speed control operations according to the vehicle type and the corresponding acceleration parameter value.

Step 406: When the execution flag corresponding to the lane line driving flag is an executable flag, it is determined according to the lane line driving flag that the corresponding operation is the lane line driving operation.

Wherein, the driving mark along the lane line may be composed of at least one of numbers, characters, symbols, and letters. For example, the indicator for driving along the lane line may be C. The operation of driving along the lane line refers to the operation of the virtual vehicle walking along the preset lane line at a preset speed. For example, the lane line can be the edge of the lane or the center line of the lane.

Specifically, the electronic device determines whether the execution identification corresponding to the driving along the lane line identification is an executable identification. When the execution identifier corresponding to the lane line driving identifier is an executable identifier, the electronic device determines that the corresponding operation is the lane line driving operation according to the lane line driving identifier in the driving scene file. The electronic device can perform driving operations along the lane line according to the vehicle type and corresponding behavior parameter values. For example, the behavior parameter value includes the parameter value of driving along the lane line. The behavior parameter value may also include the parameter value of not driving along the lane line. The electronic device executes the driving operation along the lane line according to the vehicle type and the corresponding driving parameter value along the lane line.

Step 408: When the execution flag corresponding to the lane-changing driving flag is an executable flag, the lane-changing driving operation is determined according to the lane-changing driving flag.

Wherein, the lane change driving sign may be composed of at least one of numbers, characters, symbols, and letters. For example, the lane change sign can be D. Lane changing operation refers to the operation of changing lanes of the virtual vehicle. For example, the virtual vehicle moves from lane 1 to lane 2.

Specifically, the electronic device determines whether the execution flag corresponding to the lane-changing driving flag is an executable flag. When the execution flag corresponding to the lane-changing driving flag is an executable flag, the electronic device determines that the corresponding operation is the lane-changing driving operation according to the lane-changing driving flag in the driving scene file. The electronic device can perform lane-changing operations according to the vehicle type and corresponding behavior parameter values. For example, the behavior parameter value includes an acceleration parameter value. The electronic device executes the lane-changing operation according to the vehicle type and the corresponding acceleration parameter value.

The above-mentioned driving scene information processing method can determine the corresponding virtual object behavior operation according to the constant-speed straight-line driving flag, the speed control flag, the driving along the lane flag, the lane-changing driving flag, and the corresponding execution flags, which can be modified by modifying the virtual object behavior flags. Make the virtual vehicle realize the corresponding virtual object behavior operation, obtain different driving scenes, and improve the scalability of the program.

In one embodiment, the speed control indicator includes at least one of a red light decelerator indicator, a speed limit decelerator indicator exceeding a speed limit, a distance-based speed reducer indicator, and an accelerator indicator. The speed control operation includes at least one of a red light deceleration sub-operation, a speed limit exceeding a deceleration sub-operation, a distance-based deceleration sub-operation, and an acceleration sub-operation. When the execution flag corresponding to the speed control is an executable flag, the corresponding speed control operation is determined according to the speed control, including:

In step (a1), when the execution flag corresponding to the red light deceleration sub-identifier is an executable flag, it is determined that the corresponding sub operation is a red light deceleration sub-operation according to the red light deceleration sub-identification.

Wherein, the red light speed reducer logo can be composed of at least one of numbers, characters, symbols, and letters. For example, the red light speed reducer identification can be B1. The red light deceleration sub-operation refers to the corresponding sub-operation when the virtual vehicle detects that the traffic light in front is red.

Specifically, the electronic device determines whether the execution identification corresponding to the red light deceleration sub identification is an executable identification. When the execution identifier corresponding to the red light deceleration sub-identification is an executable identifier, the electronic device determines that the corresponding operation is a red light deceleration sub-operation according to the red light deceleration sub-identification in the driving scene file. The electronic device can perform the red light deceleration sub-operation according to the vehicle type and the corresponding behavior parameter value. For example, the behavior parameter value includes the acceleration parameter value and the execution parameter value corresponding to the traffic light detection operation. When the execution parameter value corresponding to the traffic light detection operation is an executable parameter value, the electronic device executes the red light deceleration sub-operation according to the vehicle type and the corresponding acceleration parameter value.

In this embodiment, when the execution flag corresponding to the speed control flag is an executable flag, the electronic device determines whether the execution flag corresponding to the red light deceleration sub flag is an executable flag. When the execution identifier corresponding to the red light deceleration sub-identification is an executable identifier, the electronic device determines that the corresponding operation is a red light deceleration sub-operation according to the red light deceleration sub-identification in the driving scene file.

In step (a2), when the execution flag corresponding to the speed-limit value deceleration sub-identifier is an executable flag, the corresponding sub-operation is determined as the speed-limit value deceleration sub-operation according to the speed-limit value deceleration sub-identifier.

Among them, the speed limit value refers to the maximum speed per hour restricted by the road. For example, the speed limit value may be 40 km/h or 60 km/h, etc., which is not limited thereto. The decelerator identification of exceeding the speed limit value may be composed of at least one of numbers, characters, symbols, and letters. For example, the speed reduction sub-identification may be B2. Exceeding the speed limit value deceleration sub-operation refers to when the virtual vehicle detects that the current speed exceeds the speed limit value prescribed by the road, the sub-operation corresponding to the deceleration is performed.

Specifically, the electronic device determines whether the execution identifier corresponding to the deceleration sub-identifier exceeding the speed limit value is an executable identifier. When the execution identifier corresponding to the speed limit value deceleration sub-identifier is an executable identifier, the electronic device determines that the corresponding operation is the speed limit value deceleration sub-operation according to the speed-limit value deceleration sub-identification in the driving scene file. The electronic device can perform the sub-operation of decelerating over the speed limit value according to the vehicle and the corresponding behavior parameter value. For example, the behavior parameter value includes an acceleration parameter value and a speed limit value. When the speed value of the virtual vehicle exceeds the speed limit value, the electronic device performs a sub-operation of deceleration exceeding the speed limit value according to the acceleration parameter value corresponding to the vehicle.

In this embodiment, when the execution flag corresponding to the speed control flag is an executable flag, the electronic device determines whether the execution flag corresponding to the speed limit value deceleration sub flag is an executable flag. When the execution identifier corresponding to the speed limit value deceleration sub-identifier is an executable identifier, the electronic device determines that the corresponding operation is the speed limit value deceleration sub-operation according to the speed-limit value deceleration sub-identification in the driving scene file.

In step (a3), when the execution flag corresponding to the distance deceleration sub-identifier is an executable flag, the corresponding sub-operation is determined as the distance-deceleration sub-operation according to the distance-deceleration sub-identification.

Among them, the distance refers to the distance between the virtual vehicle and the preceding vehicle. The identification of the speed reducer according to the distance may be composed of at least one of numbers, characters, symbols, and letters. For example, the speed reducer identification may be B3 according to the distance. The sub-operation decelerating by distance refers to the sub-operation corresponding to deceleration when the distance between the virtual vehicle and the preceding vehicle reaches a preset distance.

Specifically, the electronic device determines whether the execution identification corresponding to the distance deceleration sub identification is an executable identification. When the execution identifier corresponding to the distance deceleration sub identifier is an executable identifier, the electronic device determines, according to the distance deceleration sub identifier in the driving scene file, that the corresponding operation is the distance deceleration sub operation. The electronic device may perform the sub-operation of decelerating according to the distance according to the vehicle and the corresponding behavior parameter value. For example, the behavior parameter value includes the acceleration parameter value and the distance parameter value between the virtual vehicle and the preceding vehicle. Among them, the distance parameter value is greater than the reference distance value. The reference distance value refers to the safe distance value between the virtual vehicle and the preceding vehicle. The reference distance value can be determined according to the current speed value of the virtual vehicle. When the distance between the virtual vehicle and the preceding vehicle is equal to or less than the distance parameter value, the electronic device performs the sub-operation of decelerating according to the distance according to the acceleration parameter value corresponding to the vehicle.

In this embodiment, when the execution identification corresponding to the speed control identification is an executable identification, the electronic device determines whether the execution identification corresponding to the distance deceleration sub identification is an executable identification. When the execution identifier corresponding to the distance deceleration sub identifier is an executable identifier, the electronic device determines, according to the distance deceleration sub identifier in the driving scene file, that the corresponding operation is the distance deceleration sub operation.

Step (a4): when the execution identifier corresponding to the accelerator identifier is an executable identifier, the corresponding sub-operation is determined to be an accelerator operation according to the accelerator identifier.

Wherein, the accelerator identification can be composed of at least one of numbers, characters, symbols, and letters. For example, the accelerator identifier may be B4. The accelerator operation refers to the operation of accelerating the virtual vehicle, and may also refer to the operation of accelerating the virtual vehicle to a preset speed.

Specifically, the electronic device determines whether the execution identification corresponding to the accelerator identification is an executable identification. When the execution identifier corresponding to the accelerator identifier is an executable identifier, the electronic device determines that the corresponding operation is an accelerator operation according to the accelerator identifier in the driving scene file. The electronic device can perform accelerator operations according to the vehicle and the corresponding behavior parameter values. For example, the behavior parameter value includes an acceleration parameter value. Then when the acceleration parameter value is positive, the virtual vehicle accelerates; when the acceleration parameter value is negative, the virtual vehicle decelerates.

In this embodiment, when the execution flag corresponding to the speed control flag is an executable flag, the electronic device determines whether the execution flag corresponding to the accelerator sub flag is an executable flag. When the execution identifier corresponding to the accelerator identifier is an executable identifier, the electronic device determines that the corresponding operation is an accelerator operation according to the accelerator identifier in the driving scene file.

The above-mentioned driving scene information processing method can respectively determine the corresponding speed control operation according to at least one of the red light decelerating sub-mark, the speed-limiting decelerating sub-mark, the distance decelerating sub-mark, and the accelerator marking, which can improve the speed control performance. Accuracy, thereby improving the authenticity of the simulated unmanned vehicle driving environment.

In an embodiment, the lane-changing driving indicator includes at least one of a lane-changing sub-identifier according to a preset route, a lane-changing sub-identification for overtaking, and an emergency avoiding sub-identity. The lane-changing driving operation includes at least one of a lane-changing sub-operation according to a preset route, a lane-changing sub-operation for overtaking, and an emergency avoiding sub-operation. When the execution flag corresponding to the lane-changing driving is an executable flag, the lane-changing driving operation is determined according to the lane-changing driving, including:

Step (b1), when the execution flag corresponding to the lane change sub-identifier according to the preset route is an executable flag, the corresponding operation is determined as the lane change sub-operation according to the preset route according to the lane change sub-identifier according to the preset route.

Wherein, the lane change sub-sign according to the preset route may be composed of at least one of numbers, characters, symbols, and letters. For example, the lane change sub-indicator according to the preset route may be D1. The sub-operation of changing lanes according to the preset route refers to the sub-operation corresponding to when the virtual vehicle changes lanes according to the preset route. The preset route means that the virtual vehicle changes lanes according to a preset route.

Specifically, the electronic device determines whether the execution identification corresponding to the lane change sub-identification according to the preset route is an executable identification. When the execution identifier corresponding to the lane-changing sub-identifier according to the preset route is an executable flag, the electronic device determines, according to the lane-changing sub-identification in the driving scene file, that the corresponding operation is the lane-changing operation according to the preset route. The electronic device can perform the lane change operation according to the preset route according to the vehicle and the corresponding behavior parameter value. For example, the behavior parameter value includes the execution parameter value corresponding to changing lanes according to the preset route. When the execution parameter value corresponding to changing lanes according to the preset route is an executable parameter value, the electronic device executes the operation of changing lanes according to the preset route.

In this embodiment, when the execution flag corresponding to the lane-changing driving flag is an executable flag, the electronic device determines whether the execution flag corresponding to the lane-changing sub flag according to the preset route is an executable flag. When the execution identifier corresponding to the lane-changing sub-identifier according to the preset route is an executable flag, the electronic device determines, according to the lane-changing sub-identification in the driving scene file, that the corresponding operation is the lane-changing operation according to the preset route.

Step (b2): When the execution flag corresponding to the overtaking lane-changing sub-indicator is an executable flag, the corresponding sub-operation is determined as the overtaking lane-changing sub-operation based on the overtaking and lane-changing sub-indicator.

Wherein, the overtaking and changing lane sub-sign may be composed of at least one of numbers, characters, symbols, and letters. For example, the overtaking and changing lane sub-sign may be D2. The overtaking and lane changing sub-operation refers to the sub-operation corresponding to the virtual vehicle overtaking and changing lanes. The overtaking and lane-changing sub-operation refers to the sub-operation in which the vehicle changes lanes and merges into the original lane after overtaking the preceding vehicle.

Specifically, the electronic device determines whether the execution identification corresponding to the overtaking and changing lane sub identification is an executable identification. When the execution flag corresponding to the overtaking lane-changing sub flag is an executable flag, the electronic device determines, according to the overtaking lane-changing sub flag in the driving scene file, that the corresponding operation is the overtaking lane-changing sub operation. The electronic device can perform overtaking and lane-changing operations according to the vehicle and the corresponding behavior parameter values. For example, the behavior parameter value includes the lane identification value of changing lanes, the overtaking speed value, and so on. The electronic device executes the lane-changing sub-operation of overtaking according to the lane identification value of the lane-changing and the overtaking speed value.

In this embodiment, when the execution flag corresponding to the lane-changing driving flag is an executable flag, the electronic device determines whether the execution flag corresponding to the overtaking lane-changing sub flag is an executable flag. When the execution flag corresponding to the overtaking lane-changing sub flag is an executable flag, the electronic device determines, according to the overtaking lane-changing sub flag in the driving scene file, that the corresponding operation is the overtaking lane-changing sub operation.

In step (b3), when the execution identifier corresponding to the emergency avoidance sub-identifier is an executable identifier, the corresponding sub-operation is determined as the emergency avoidance sub-operation according to the emergency avoidance sub-identification.

Among them, emergency avoidance refers to avoidance when a vehicle encounters an emergency. The emergency avoidance sub-operation refers to the corresponding sub-operation to avoid when the virtual vehicle encounters an emergency. For example, when a virtual vehicle encounters a special vehicle, such as a fire engine, an ambulance, etc., it needs to avoid the special lane so that the special vehicle can pass smoothly. The emergency avoidance sub-identifier may be composed of at least one of numbers, characters, symbols, and letters. For example, the emergency avoidance sub-identifier may be D3.

Specifically, the electronic device determines whether the execution identification corresponding to the emergency avoidance sub-identification is an executable identification. When the execution identifier corresponding to the emergency avoidance sub identifier is an executable identifier, the electronic device determines that the corresponding operation is the emergency avoidance sub operation according to the emergency avoidance sub identifier in the driving scene file. The electronic device can execute the emergency avoidance sub-operation according to the vehicle and the corresponding behavior parameter value. For example, the behavior parameter value includes the lane identification value of changing lanes, the value of avoiding vehicle type, and so on. The electronic device executes the emergency avoidance sub-operation according to the lane identification value of the lane change and the value of the avoiding vehicle type.

In this embodiment, when the execution flag corresponding to the lane-changing driving flag is an executable flag, the electronic device determines whether the execution flag corresponding to the emergency avoidance sub-identifier is an executable flag. When the execution identifier corresponding to the emergency avoidance sub-identifier is an executable identifier, the electronic device determines that the corresponding operation is the emergency avoidance sub-operation according to the emergency avoidance sub-identification in the driving scene file.

The above-mentioned driving scene information processing method can determine the corresponding lane-changing operation according to at least one of the lane-changing sub-identifier, overtaking lane-changing sub-identity, and emergency avoiding sub-identity according to the preset route, which can improve the accuracy of lane changing, thereby Improve the authenticity of the simulated driving environment of unmanned vehicles.

In an embodiment, as shown in FIG. 5, it is a schematic diagram of the relationship between the basic behavior identifiers in an embodiment. The basic behavior indicator includes at least one of a speed control indicator, a constant-speed straight-line driving indicator, a lane-line driving indicator, and a lane-changing driving indicator. The speed control indicator includes at least one of a red light decelerator indicator, a decelerator indicator exceeding a speed limit, a distance-based retarder indicator, and an accelerator indicator. The lane-changing indicator includes at least one of a lane-changing sub-indicator according to a preset route, a lane-changing sub-indicator for overtaking, and an emergency avoiding sub-indicator. The constant-speed straight-line driving mark can correspond to the straight-forward operation at a constant speed at the current speed. The driving mark along the lane line can correspond to the operation of moving at a constant speed along the centerline curve of the lane, etc., and the like is not limited to this. Virtual object behavior operations can be directly added to the virtual object (smart agent) class by adding member functions. At the same time, we can classify virtual object behavior operations into Figure 5 according to the function of the virtual object. Then add some logic judgment codes, as shown in Figure 6, to determine when this function needs to be executed. Correspondingly, an execution identifier corresponding to the virtual object behavior identifier also needs to be added in the configuration file to indicate whether to enable the virtual object behavior operation. In this way, the scalability of the program is relatively high.

Among them, the class of an agent includes the definition of the agent, its basic properties, the functions it can implement, and other information that may be used. To put it simply, the class of a vehicle can include the current position, speed, size, color and other attributes of the vehicle. Its functions can include how far to travel, slow down and stop when there are pedestrians crossing the road, and red at the intersection ahead. Slow down and stop when the lights are on. In the class, each attribute is described by a variable, and each function is implemented by a member function. That is, each virtual object behavior operation can be implemented with a member function. Member functions can change the state of attributes in the class at runtime, such as position movement. Every time a functional module is added, we need to add a corresponding member function to the class, that is, write a section of function code, that is, add a virtual object behavior operation.

In one embodiment, as shown in FIG. 6, it is a schematic flow chart of the operation of determining the behavior of the virtual object in one embodiment.

Step 602: Obtain a driving scene configuration file.

Step 604: Determine whether the execution flag corresponding to the constant-speed straight-line driving flag is an executable flag?

Step 606, if yes, perform a straight-line driving operation at a constant speed.

Step 608: Determine whether the execution flag corresponding to the speed control flag is an executable flag?

Step 610, if yes, determine whether the execution flag corresponding to the red light deceleration sub flag is an executable flag? If the execution flag corresponding to the red light deceleration sub flag is not an executable flag, step 614 is executed.

Step 612: If the execution flag corresponding to the red light deceleration sub-identifier is an executable flag, execute the red light deceleration sub-operation.

Step 614: Determine whether the execution identifier corresponding to the deceleration sub-identity exceeding the speed limit value is an executable identifier. If the execution identifier corresponding to the speed-reduction sub-identification exceeding the speed limit value is not an executable identifier, step 618 is executed.

In step 616, if the execution flag corresponding to the speed limit deceleration sub flag exceeding the speed limit value is an executable flag, execute the speed limit value deceleration sub operation exceeding the speed limit value.

Step 618: Determine whether the execution identification corresponding to the distance deceleration sub identification is an executable identification. If the execution flag corresponding to the distance deceleration sub flag is not an executable flag, step 622 is executed.

Step 620: If the execution flag corresponding to the distance deceleration sub-identifier is an executable flag, execute the distance deceleration sub-operation.

Step 622: Determine whether the execution identification corresponding to the accelerator identification is an executable identification? If the execution identifier corresponding to the accelerator identifier is not an executable identifier, step 626 is executed.

In step 624, if the execution identifier corresponding to the accelerator sub identifier is an executable identifier, execute the accelerator sub operation.

Step 626: Determine whether the execution flag corresponding to the lane line driving flag is an executable flag? If the execution flag corresponding to the driving along the lane line flag is not an executable flag, step 630 is executed.

Step 628: If the execution flag corresponding to the accelerator flag is an executable flag, execute the driving operation along the lane line.

Step 630: Determine whether the execution flag corresponding to the lane-changing driving flag is an executable flag? If the execution flag corresponding to the lane-changing driving flag is not an executable flag, the process ends, or it is determined whether the execution flag corresponding to other basic behavior flags is an executable flag.

Step 632: If the execution flag corresponding to the lane-changing driving flag is an executable flag, determine whether the execution flag corresponding to the lane-changing sub flag according to the preset route is an executable flag. If the execution flag corresponding to the lane change sub flag according to the preset route is not an executable flag, step 636 is executed.

In step 634, if the execution flag corresponding to the lane change sub flag according to the preset route is an executable flag, execute the lane change operation based on the preset route.

Step 636: Determine whether the execution flag corresponding to the overtaking and changing lane sub flag is an executable flag? If the execution flag corresponding to the overtaking and changing lane sub flag is not an executable flag, step 640 is executed.

Step 638: If the execution flag corresponding to the overtaking lane change sub flag is an executable flag, execute the overtaking lane change sub operation.

Step 640: Determine whether the execution identification corresponding to the emergency avoidance sub-identification is an executable identification. If the execution identifier corresponding to the emergency avoidance sub-identifier is not an executable identifier, the process ends, or it is determined whether the execution identifier corresponding to other basic behavior identifiers is an executable identifier.

Step 642: If the execution identifier corresponding to the emergency avoidance sub-identifier is an executable identifier, execute the emergency avoidance sub-operation.

The foregoing driving scene information processing method can determine the virtual object behavior operation that needs to be finally performed through a series of judgment conditions, and realize the configurability of the virtual object behavior operation.

In one embodiment, the virtual object behavior identifier includes an abnormal behavior identifier; the behavior parameter value includes an abnormal behavior parameter value; and the virtual object behavior operation includes an abnormal behavior operation. Perform virtual object behavior operations based on the virtual object type and behavior parameter values, including: performing abnormal behavior operations based on the virtual object type and abnormal behavior parameter values.

Among them, the abnormal behavior identifier is different from the basic behavior identifier. The abnormal behavior identification may refer to behaviors that do not comply with laws and regulations or behaviors that cause malfunctions. The abnormal behavior parameter value may refer to the parameter value corresponding to the vehicle that is not within the range prescribed by laws and regulations. For example, the speed parameter value is 150 kilometers per hour, etc., the distance to the vehicle in front is less than the reference distance value, and so on. The abnormal behavior identifiers corresponding to different virtual object types are different. For example, the abnormal behavior of a traffic light may be that the red light is always on, the green light is not switched to, or the yellow light is always on, etc. are not limited to this.

Specifically, the abnormal behavior operation may be a speeding operation, a line pressing operation, a non-stop operation at an intersection, a disrespectful pedestrian operation, etc., and the like is not limited to this. The electronic device performs an abnormal behavior operation according to the type of the virtual object and the abnormal behavior parameter value.

In the above driving scene information processing method, the virtual object behavior identifier includes the abnormal behavior identifier, the behavior parameter value includes the abnormal behavior parameter value, the virtual object behavior operation includes the abnormal behavior operation, and the abnormal behavior operation is performed according to the virtual object type and the abnormal behavior parameter value. Some driving scenes have special requirements. For example, some vehicles that implement abnormal behaviors need to be added to the driving scene, and the scenes corresponding to the abnormal behaviors are used to test whether the algorithm of unmanned vehicles can work in this scene, so as to improve the simulation of driving scenes. Authenticity; and by changing abnormal parameter values, etc., the driving scene can be modified to improve the scalability of the program.

In one embodiment, the abnormal behavior indicator is a line-pressing indicator; the type of the virtual object is a vehicle type. Performing abnormal behavior operations according to the virtual object type and abnormal behavior parameter values includes: executing the line pressing operation corresponding to the line pressing identification according to the vehicle type and the corresponding initial position and initial speed to control the line pressing of the virtual vehicle.

Among them, driving on the line refers to driving in the opposite lane or driving in the same lane. For example, no matter whether the lane line is a solid line or a dashed line, the vehicle occupies the lane to drive. The initial position refers to the coordinate position of the virtual vehicle in the driving scene. The initial position may specifically be the position where the virtual vehicle presses the lane line.

Specifically, the initial speed is a fixed speed value. The electronic device executes the line pressing operation corresponding to the line pressing mark according to the initial position and initial speed of the virtual vehicle to control the line pressing operation of the virtual vehicle. The virtual vehicle can travel at a uniform acceleration or deceleration, or travel at a variable speed, and the like is not limited to this.

The above-mentioned driving scene information processing method, according to the initial position and initial speed of the virtual vehicle, executes the line-pressing operation to control the line-pressing operation of the virtual vehicle, which can simulate the driving scene of the vehicle in the actual driving process, and improve the authenticity of the driving scene simulation , It can test whether the unmanned vehicle algorithm is applicable in this scenario, thereby improving the applicability of the unmanned vehicle algorithm.

In one embodiment, the abnormal behavior identifier is a no-stop marker at an intersection; the type of the virtual object is a vehicle type; and the abnormal behavior parameter value includes the execution parameter value of the traffic light detection operation as the non-executable parameter value. Performing abnormal behavior operations according to the virtual object type and abnormal behavior parameter values includes: performing the no-stop operation at the intersection corresponding to the no-stop sign at the intersection according to the vehicle type and the corresponding non-executable parameter value, and controlling the virtual vehicle to keep driving at the intersection.

Among them, no stopping at an intersection refers to a sign that when a vehicle arrives at an intersection, it should slow down in accordance with traffic laws, stop at a red light, or be courteous when encountering a pedestrian, but the virtual vehicle does not stop under the above circumstances. The no-stop sign at the intersection may be composed of at least one of numbers, characters, symbols, and letters. The detection operations corresponding to the vehicle type include traffic light detection operations, sidewalk detection operations, pedestrian detection operations, etc., which are not limited to this. The traffic light detection operation is used to detect the color of the traffic light and determine whether it is passable. The non-executable parameter value is used for not turning on the traffic light detection operation. The executable parameter value can be 1, true, etc., but not limited to this, and the non-executable parameter value can be 0, false, etc., and the like is not limited to this.

Specifically, the electronic device according to the vehicle type and the non-executable parameter value corresponding to the vehicle type, where the non-executable parameter value is the execution parameter value of the traffic light detection operation, executes the no-stop operation at the intersection corresponding to the no-stop sign at the intersection, and controls the virtual vehicle in Keep driving at intersections.

The above-mentioned driving scene information processing method performs the no-stop operation corresponding to the no-stop sign at the intersection according to the vehicle type and the corresponding non-executable parameter value, and controls the virtual vehicle to keep driving at the intersection, that is, the electronic device does not execute the traffic light corresponding to the virtual vehicle The detection operation can be equivalent to an unmanned vehicle encountering a vehicle that does not follow a traffic light during driving, so that it can detect whether the algorithm of the unmanned vehicle plays a role in the scene, and improve the authenticity of the driving scene simulation.

In one embodiment, the abnormal behavior identification is incorporated into the front identification of the target vehicle; the virtual object type is a vehicle type; the abnormal behavior parameter value includes a distance parameter value between the virtual vehicle and the target vehicle, and the distance parameter value is less than the reference distance value. Performing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value includes: performing the merge operation corresponding to the front mark of the merged target vehicle according to the vehicle type and the corresponding distance parameter value, and control the virtual vehicle to merge into the front of the target vehicle.

Among them, the reference distance value refers to the safe distance value between the virtual vehicle and the target vehicle. The reference distance value can be determined according to the current speed value of the virtual vehicle. When the speed value corresponding to the virtual vehicle is larger, the reference distance value is larger; when the speed value corresponding to the virtual vehicle is smaller, the reference distance value is smaller. The target vehicle refers to a virtual unmanned vehicle.

Specifically, the front mark of the incorporated target vehicle may be composed of at least one of numbers, characters, symbols, and letters. The merging operation may mean that the virtual vehicle and the target vehicle are not in the same lane, and the virtual vehicle merges into the lane where the target vehicle is located from in front of the target vehicle. The distance parameter value refers to the distance parameter value between the virtual vehicle and the target vehicle. For example, the electronic device performs a merge operation according to a reference distance value corresponding to the virtual vehicle, for example 5 meters, so as to control the virtual vehicle to merge into the target vehicle when it is 5 meters away from the target vehicle. At this time, the target vehicle should brake urgently.

In the above driving scene information processing method, when the distance parameter value is less than the reference distance value, the virtual vehicle performs the merge operation, which is likely to cause traffic accidents, that is, rear-end collision or side collision. Abnormal behavior, which can detect whether the algorithm of the unmanned vehicle is working in the scene, and also improve the authenticity of the driving scene simulation.

In one embodiment, the number of virtual object behavior identifiers is at least two. Perform virtual object behavior operations according to virtual object types and behavior parameter values, including: executing at least two corresponding virtual object behavior identifiers in the order of at least two virtual object behavior identifiers, and the virtual object type and behavior parameter value corresponding to each virtual object behavior identifier Virtual object behavior operation.

Wherein, the number of virtual object behavior identifiers may be at least two. For example, taking the behavior identification of the virtual object including the identification of driving in a straight line at a constant speed and the identification of driving along a lane line as an example, the virtual vehicle can travel in a straight line at a constant speed along the lane line. Taking the behavior identification of the virtual object including the speed control identification and the driving along the lane line as an example, the virtual vehicle can accelerate along the lane line and the like is not limited to this.

Specifically, the sequence of the at least two virtual object behavior identifiers may be the sequence in which they appear in the driving scene configuration information, or the time sequence corresponding to the virtual object behavior identifiers. The electronic device executes the virtual object behavior operation corresponding to each virtual object behavior identifier according to the appearance order of at least two virtual object behavior identifiers, or the corresponding time sequence, the virtual object type and behavior parameter value corresponding to each virtual object behavior identifier, That is, perform at least two virtual object behavior operations. For example, the electronic device controls the virtual vehicle to first perform a constant-speed straight-line driving operation corresponding to a constant-speed straight-line driving indicator, and then perform a speed control operation corresponding to the speed control indicator. Alternatively, the electronic device controls the virtual vehicle to perform a constant-speed straight-line driving operation, and when it is detected that the speed of the preceding vehicle is lower than the speed of the virtual vehicle, the lane-changing operation is performed.

The foregoing driving scene information processing method performs at least two virtual object behavior operations corresponding to the sequence of at least two virtual object behavior identifiers, as well as the virtual object type and behavior parameter values corresponding to each virtual object behavior identifier, and can simulate unmanned operations. The actual driving scene of the vehicle, and only need to modify the virtual object behavior identification and behavior parameter values, you can perform different virtual object behavior operations, which is more convenient to use, and the program has high scalability.

In one embodiment, the driving scene configuration information includes initial state information corresponding to the virtual object type. Perform virtual object behavior operations based on virtual object types and behavior parameter values, including: performing virtual object behavior operations based on virtual object types, initial state information and behavior parameter values corresponding to virtual object types.

Among them, the initial state information refers to the state information when the virtual object is started. Different types of virtual objects can have different initial state information. For example, the initial state information corresponding to the vehicle type may include an initial position and an initial speed value. The initial state information corresponding to the traffic light type may include the color of the traffic light and so on. The initial state information corresponding to the pedestrian type may include initial position and initial speed.

Specifically, the electronic device executes the corresponding virtual object behavior operation according to the type of the virtual object, the initial state information corresponding to the type, and the behavior parameter value. For example, the electronic device performs virtual object behavior operations according to the initial position and initial speed corresponding to the vehicle and the vehicle, where the initial speed is 40 kilometers per second, and the parameter value changed to lane 2 to control the virtual vehicle to 40 kilometers per second The speed changes to lane 2.

The aforementioned driving scene information processing method performs virtual object behavior operations according to the virtual object type, the initial state information and behavior parameter values corresponding to the virtual object type, and can configure different initial state information and behavior parameter values for different types to execute the corresponding The virtual behavior operation improves the scalability of the program.

In one embodiment, the driving scene configuration information includes virtual object attribute information. The driving scene information processing method further includes: configuring corresponding virtual object attribute information for the virtual object attribute.

Specifically, the virtual object attribute information refers to the information of the virtual object itself. For example, the color, size, and model of the virtual vehicle, or the height of the traffic light, the model of the traffic light, etc., or the hairstyle and clothing of the pedestrian are not limited thereto. The virtual object attribute parameter refers to a variable and has no value assigned. The virtual object attribute parameters can be saved in the simulator executable file. The electronic device obtains the virtual object attribute information, and configures the corresponding virtual object attribute information for the virtual object attribute parameter.

The foregoing driving scene information processing method configures corresponding virtual object attribute information for the virtual object attributes, which can modify the attributes of the virtual object, meet the needs of different driving, and improve the interactivity of the driving scene.

It should be understood that although the various operations in the flowcharts of FIG. 2, FIG. 4, and FIG. 6 are sequentially displayed as indicated by the arrows, these operations are not necessarily performed sequentially in the order indicated by the arrows. Unless explicitly stated in this article, there is no strict order for the execution of these operations, and these operations can be executed in other orders. Moreover, at least part of the operations in Figure 2, Figure 4, and Figure 6 may include multiple sub-operations or multiple stages. These sub-operations or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of the sub-operations or stages is not necessarily performed sequentially, but may be executed alternately or alternately with other operations or at least a part of the sub-operations or stages of other operations.

In one embodiment, as shown in FIG. 7, a driving scene information processing device is provided, which is a structural block diagram of the driving scene information processing device in an embodiment, and includes an acquisition module 702, a determination module 704, and an execution module 706. :

The obtaining module 702 is configured to obtain driving scene configuration information. The driving scene configuration information includes a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and behavior parameter values corresponding to the virtual object type;

The determining module 704 is configured to determine the corresponding virtual object behavior operation according to the virtual object behavior identifier;

The execution module 706 is configured to execute virtual object behavior operations according to virtual object types and behavior parameter values.

In the above driving scene information processing device, the behavior scene configuration information includes the virtual object behavior identifier and the behavior parameter value corresponding to the virtual object type, and then the virtual object behavior operation to be performed can be determined according to the virtual object identifier, according to the virtual object type and corresponding behavior The parameter values perform virtual object behavior operations, that is, the behavior scene configuration information describes the virtual object behavior operations that need to be performed, and what is the parameter value corresponding to the virtual object behavior operations, which can realize the configurability of the scene and behavior, and only need to modify the virtual object Behavior identification and behavior parameter values, you can perform different virtual object behavior operations, which is more convenient to use, and the program has high scalability; while the modules corresponding to each driving scene in the traditional way are independent of each other, it is obvious that it must be There will be some similar or even identical modules, and with the increase of driving scenes, there will be more and more duplicate codes. The method in the embodiments of this application is not easy to be repeated virtual object behavior operations, thereby reducing program compilation time. Reduce development and maintenance costs.

In one embodiment, the determining module 704 is configured to detect the execution identifier corresponding to the virtual object behavior identifier; when the execution identifier is an executable identifier, perform an operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier.

The aforementioned driving scene information processing device detects the execution identification corresponding to the virtual object behavior identification; when the execution identification is an executable identification, the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identification is performed, and then the execution identification can be determined by modifying the execution identification Which virtual object behavior operations are performed to improve the scalability of the program.

In one embodiment, the virtual object behavior identification includes a basic behavior identification; the basic behavior identification includes at least one of a constant-speed straight-line driving identification, a speed control identification, a lane-line driving identification, and a lane-changing driving identification. The determining module 704 is configured to determine that the corresponding operation is a constant-speed straight-line driving operation according to the constant-speed straight-line driving flag when the execution flag corresponding to the uniform-speed straight-line driving flag is an executable flag. The determining module 704 is configured to determine that the corresponding operation is a speed control operation according to the speed control identifier when the execution identifier corresponding to the speed control identifier is an executable identifier. The determining module 704 is configured to determine that the corresponding operation is a driving operation along the lane line according to the driving along the lane line when the execution flag corresponding to the driving along the lane line is an executable flag. The determining module 704 is configured to determine the lane-changing driving operation according to the lane-changing driving flag when the execution flag corresponding to the lane-changing driving flag is an executable flag.

The aforementioned driving scene information processing device can determine the corresponding virtual object behavior operation according to the constant-speed straight-line driving flag, the speed control flag, the lane line driving flag, and the lane-changing driving flag corresponding to the execution flags, and the virtual object behavior flags can be modified by modifying the virtual object behavior flags. Make the virtual vehicle realize the corresponding virtual object behavior operation, obtain different driving scenes, and improve the scalability of the program.

In one embodiment, the speed control indicator includes at least one of a red light decelerator indicator, a speed limit decelerator indicator exceeding a speed limit, a distance-based speed reducer indicator, and an accelerator indicator. The speed control operation includes at least one of a red light deceleration sub-operation, a speed limit exceeding a deceleration sub-operation, a distance-based deceleration sub-operation, and an acceleration sub-operation. The determining module 704 is configured to determine that the corresponding sub-operation is a red-light deceleration sub-operation according to the red-light deceleration sub-identification when the execution identifier corresponding to the red light deceleration sub-identity is an executable identifier. The determining module 704 is configured to determine that the corresponding sub-operation is a deceleration sub-operation exceeding the speed limit value according to the speed-limiting-value deceleration sub-identification when the execution flag corresponding to the speed-limiting-value deceleration sub-identification is an executable flag. The determining module 704 is configured to, when the execution identifier corresponding to the distance deceleration sub-identifier is an executable identifier, determine the corresponding sub-operation as the distance-deceleration sub-operation according to the distance-deceleration sub-identification. The determining module 704 is configured to, when the execution identifier corresponding to the accelerator sub identifier is an executable identifier, determine that the corresponding sub operation is an accelerator sub operation according to the accelerator identifier.

The above-mentioned driving scene information processing device can determine the corresponding speed control operation according to at least one of the red light decelerating sub-mark, the speed-limiting decelerating sub-mark, the distance decelerating sub-mark, and the accelerator marking, so as to improve the speed control performance. Accuracy, thereby improving the authenticity of the simulated unmanned vehicle driving environment.

In an embodiment, the lane-changing driving indicator includes at least one of a lane-changing sub-identifier according to a preset route, a lane-changing sub-identification for overtaking, and an emergency avoiding sub-identity. The lane-changing driving operation includes at least one of a lane-changing sub-operation according to a preset route, a lane-changing sub-operation for overtaking, and an emergency avoiding sub-operation. The determining module 704 is configured to determine that the corresponding operation is the lane change operation according to the preset route when the execution flag corresponding to the lane change sub-identifier according to the preset route is an executable flag. The determining module 704 is configured to determine that the corresponding sub-operation is the overtaking and changing lane sub-operation according to the overtaking and changing lane sub-operation when the execution identifier corresponding to the overtaking and changing lane sub-indicator is an executable identifier. The determining module 704 is configured to determine that the corresponding sub-operation is an emergency avoiding sub-operation according to the emergency avoiding sub-identifier when the execution identifier corresponding to the emergency avoiding sub-identifier is an executable identifier.

The aforementioned driving scene information processing device can determine the corresponding lane-changing driving operation according to at least one of the lane-changing sub-identifier, the overtaking lane-changing sub-identifier, and the emergency avoiding sub-identity respectively according to the preset route, which can improve the accuracy of lane changing, thereby Improve the authenticity of the simulated driving environment of unmanned vehicles.

In one embodiment, the virtual object behavior identifier includes an abnormal behavior identifier; the behavior parameter value includes an abnormal behavior parameter value; and the virtual object behavior operation includes an abnormal behavior operation. The execution module 706 is configured to execute abnormal behavior operations according to the type of the virtual object and the abnormal behavior parameter value.

In the above driving scene information processing device, the virtual object behavior identifier includes the abnormal behavior identifier, the behavior parameter value includes the abnormal behavior parameter value, the virtual object behavior operation includes the abnormal behavior operation, and the abnormal behavior operation is performed according to the virtual object type and the abnormal behavior parameter value. Some driving scenes have special requirements. For example, some vehicles that implement abnormal behaviors need to be added to the driving scene, and the scenes corresponding to the abnormal behaviors are used to test whether the algorithm of unmanned vehicles can work in this scene, so as to improve the simulation of driving scenes. Authenticity; and by changing abnormal parameter values, etc., the driving scene can be modified to improve the scalability of the program.

In one embodiment, the abnormal behavior indicator is a line-pressing indicator; the type of the virtual object is a vehicle type. The execution module 706 is configured to execute the line pressing operation corresponding to the line pressing identification according to the vehicle type and the corresponding initial position and initial speed, so as to control the line pressing operation of the virtual vehicle.

The above-mentioned driving scene information processing device, according to the initial position and initial speed of the virtual vehicle, executes the line-pressing operation to control the line-pressing operation of the virtual vehicle, which can simulate the driving scene of the vehicle in the actual driving process, and improve the authenticity of the driving scene simulation , It can test whether the unmanned vehicle algorithm is applicable in this scenario, thereby improving the applicability of the unmanned vehicle algorithm.

In one embodiment, the abnormal behavior identifier is a no-stop marker at an intersection; the type of the virtual object is a vehicle type; and the abnormal behavior parameter value includes the execution parameter value of the traffic light detection operation as the non-executable parameter value. The execution module 706 is configured to execute the no-stop operation at the intersection corresponding to the no-stop sign at the intersection according to the type of the vehicle and the corresponding non-executable parameter value, and control the virtual vehicle to keep driving at the intersection.

The aforementioned driving scene information processing device executes the no-stop operation at the intersection corresponding to the no-stop sign at the intersection according to the vehicle type and the corresponding non-executable parameter value, and controls the virtual vehicle to keep driving at the intersection, that is, the electronic device does not execute the traffic light corresponding to the virtual vehicle The detection operation can be equivalent to an unmanned vehicle encountering a vehicle that does not follow a traffic light during driving, so that it can detect whether the algorithm of the unmanned vehicle plays a role in the scene, and improve the authenticity of the driving scene simulation.

In one embodiment, the abnormal behavior identification is incorporated into the front identification of the target vehicle; the virtual object type is a vehicle type; the abnormal behavior parameter value includes a distance parameter value between the virtual vehicle and the target vehicle, and the distance parameter value is less than the reference distance value. The execution module 706 is configured to execute the merge operation corresponding to the front mark of the merged target vehicle according to the vehicle type and the corresponding distance parameter value, and control the virtual vehicle to merge into the front of the target vehicle to travel.

In the above driving scene information processing device, when the distance parameter value is less than the reference distance value, the virtual vehicle performs the merge operation, which is likely to cause traffic accidents, that is, accidents such as rear-end collision or side collision. Abnormal behavior, which can detect whether the algorithm of the unmanned vehicle is working in the scene, and also improve the authenticity of the driving scene simulation.

In one embodiment, the number of virtual object behavior identifiers is at least two. The execution module 706 is configured to execute the corresponding at least two virtual object behavior operations according to the sequence of the at least two virtual object behavior identifiers, and the virtual object type and behavior parameter value corresponding to each virtual object behavior identifier.

The foregoing driving scene information processing device performs at least two virtual object behavior operations corresponding to the sequence of at least two virtual object behavior identifiers, and the virtual object type and behavior parameter values corresponding to each virtual object behavior identifier, and can simulate unmanned operations. The actual driving scene of the vehicle, and only need to modify the virtual object behavior identification and behavior parameter values, you can perform different virtual object behavior operations, which is more convenient to use, and the program has high scalability.

In one embodiment, the driving scene configuration information includes initial state information corresponding to the virtual object type. The execution module 706 is configured to execute virtual object behavior operations according to the virtual object type, the initial state information corresponding to the virtual object type, and the behavior parameter value.

The above-mentioned driving scene information processing device performs virtual object behavior operations according to the virtual object type, the initial state information and behavior parameter values corresponding to the virtual object type, and can configure different initial state information and behavior parameter values for different types to execute the corresponding The virtual behavior operation improves the scalability of the program.

In one embodiment, the driving scene configuration information includes virtual object attribute information. The driving scene information processing device also includes a configuration module. The configuration module is used to configure the corresponding virtual object attribute information for the virtual object attribute.

The above-mentioned driving scene information processing device configures corresponding virtual object attribute information for the virtual object attributes, which can modify the attributes of the virtual object, meet the needs of different driving, and improve the interactivity of the driving scene.

The division of the modules in the driving scene information processing device described above is only for illustration. In other embodiments, the driving scene information processing device can be divided into different modules as needed to complete all or part of the driving scene information processing device. Function.

For the specific limitation of the driving scene information processing device, please refer to the above limitation of the driving scene information processing method, which will not be repeated here. Each module in the above-mentioned driving scene information processing device can be implemented in whole or in part by software, hardware, and a combination thereof. The foregoing modules may be embedded in the form of hardware or independent of the processor in the electronic device, or may be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the operations corresponding to the foregoing modules.

The implementation of each module in the driving scene information processing device provided in the embodiment of the present application may be in the form of a computer program. The computer program can be run on electronic devices such as terminals or servers. The program module constituted by the computer program can be stored in the memory of the electronic device. When the computer program is executed by the processor, the operation of the driving scene information processing method described in the embodiment of the present application is realized.

In one embodiment, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor. When the processor executes the computer program, the driving scene provided by the foregoing embodiments is implemented. Operation of information processing methods.

In one embodiment, a computer-readable storage medium is also provided. The computer-readable storage medium stores a computer program. When the computer program is executed by the processor, the driving scenario described in each embodiment of the present application is realized. Operation of information processing methods.

In one embodiment, a computer program product containing instructions is provided, which when running on a computer, causes the computer to execute the driving scene information processing method described in each embodiment of the present application.

Any reference to memory, storage, database, or other media used in this application may include non-volatile and/or volatile memory. Suitable non-volatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM), which acts as external cache memory. As an illustration and not a limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The above examples only express a few implementations of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation to the patent scope of the present application. It should be pointed out that for those of ordinary skill in the art, without departing from the concept of this application, several modifications and improvements can be made, and these all fall within the protection scope of this application. Therefore, the scope of protection of the patent of this application shall be subject to the appended claims.

Claims

A method for processing driving scene information, including:

Acquiring driving scene configuration information, where the driving scene configuration information includes a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and a behavior parameter value corresponding to the virtual object type;

Determine the corresponding virtual object behavior operation according to the virtual object behavior identifier; and

Perform the virtual object behavior operation according to the virtual object type and the behavior parameter value.
The method according to claim 1, wherein the method further comprises:

Detecting the execution identifier corresponding to the virtual object behavior identifier;

When the execution identifier is an executable identifier, the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier is executed.
The method according to claim 2, wherein the virtual object behavior identification includes a basic behavior identification; the basic behavior identification includes a constant-speed straight-line driving identification, a speed control identification, a driving along a lane line, and a lane-changing driving identification. At least one

When the execution identifier is an executable identifier, performing the operation of determining a corresponding virtual object behavior operation according to the virtual object behavior identifier includes:

When the execution flag corresponding to the constant-speed straight-line driving flag is an executable flag, determining that the corresponding operation is a constant-speed straight-line driving operation according to the constant-speed straight-line driving flag;

When the execution flag corresponding to the speed control flag is an executable flag, determine that the corresponding operation is a speed control operation according to the speed control flag;

When the execution flag corresponding to the lane-line driving flag is an executable flag, determining that the corresponding operation is the lane-line driving operation according to the lane-line driving flag;

When the execution flag corresponding to the lane-changing driving flag is an executable flag, the lane-changing driving operation is determined according to the lane-changing driving flag.
The method according to claim 3, wherein the speed control indicator comprises at least one of a red light speed reducer indicator, a speed limit exceeding speed value speed reducer indicator, a distance-based speed reducer indicator, and an accelerator indicator;

When the execution identifier corresponding to the speed control is an executable identifier, determining the corresponding speed control operation according to the speed control includes:

When the execution identifier corresponding to the red light deceleration sub-identification is the executable identifier, determining that the corresponding sub-operation is a red light deceleration sub-operation according to the red-light deceleration sub-identification;

When the execution identifier corresponding to the speed limit value deceleration sub-identifier is the executable identifier, determining that the corresponding sub-operation is a speed-limit value deceleration sub-operation according to the speed-limit value deceleration sub-identification;

When the execution identifier corresponding to the distance deceleration sub-identifier is the executable identifier, determining, according to the distance deceleration sub-identity, that the corresponding sub-operation is a distance-deceleration sub-operation;

When the execution identifier corresponding to the accelerator identifier is the executable identifier, it is determined according to the accelerator identifier that the corresponding sub-operation is an accelerator sub-operation.
The method according to claim 3, wherein the lane-changing driving indicator comprises at least one of a lane-changing sub-identification according to a preset route, a lane-changing sub-identification for overtaking, and an emergency avoiding sub-identification;

When the execution flag corresponding to the lane-changing driving is an executable flag, determining the lane-changing driving operation according to the lane-changing driving includes:

When the execution identifier corresponding to the lane-changing sub-identifier according to the preset route is an executable flag, determining that the corresponding operation is the lane-changing operation according to the preset route according to the lane-changing sub-identifier according to the preset route;

When the execution flag corresponding to the overtaking lane-changing sub-indicator is an executable flag, determining that the corresponding sub-operation is the overtaking lane-changing sub-operation according to the overtaking and lane-changing sub-indicator;

When the execution identifier corresponding to the emergency avoidance sub-identifier is an executable identifier, it is determined that the corresponding sub-operation is an emergency avoidance sub-operation according to the emergency avoidance sub-identification.
The method according to claim 1, wherein the virtual object behavior identifier includes an abnormal behavior identifier; the behavior parameter value includes an abnormal behavior parameter value; the virtual object behavior operation includes an abnormal behavior operation;

The executing the virtual object behavior operation according to the virtual object type and the behavior parameter value includes:

The abnormal behavior operation is performed according to the type of the virtual object and the abnormal behavior parameter value.
The method according to claim 6, wherein the abnormal behavior identifier is a line driving identifier; the type of the virtual object is a vehicle type;

The executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value includes:

According to the vehicle type and the corresponding initial position and initial speed, the line pressing operation corresponding to the line pressing identification is executed to control the line pressing operation of the virtual vehicle.
The method according to claim 6, wherein the abnormal behavior identifier is a no-stop marker at an intersection; the virtual object type is a vehicle type; and the abnormal behavior parameter value includes the value of the execution parameter value of the traffic light detection operation. Execution parameter value;

The executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value includes:

According to the vehicle type and the corresponding non-executable parameter value, the intersection no-stop operation corresponding to the intersection no-stop sign is executed to control the virtual vehicle to keep driving at the intersection.
The method according to claim 6, wherein the abnormal behavior identifier is an identifier that is merged into the front of the target vehicle; the type of the virtual object is a vehicle type; and the abnormal behavior parameter value includes the difference between the virtual vehicle and the target vehicle. A distance parameter value, where the distance parameter value is less than a reference distance value;

The executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value includes:

According to the vehicle type and the corresponding distance parameter value, the merging operation corresponding to the front mark of the merging target vehicle is executed to control the virtual vehicle to merge into the driving front of the target vehicle.
The method according to any one of claims 1 to 9, wherein the number of the virtual object behavior identifiers is at least two;

The executing the virtual object behavior operation according to the virtual object type and the behavior parameter value includes:

Perform at least two corresponding virtual object behavior operations according to the sequence of at least two virtual object behavior identifiers, and the virtual object type and behavior parameter value corresponding to each virtual object behavior identifier.
The method according to any one of claims 1 to 9, wherein the driving scene configuration information includes initial state information corresponding to the type of virtual object;

The executing the virtual object behavior operation according to the virtual object type and the behavior parameter value includes:

Perform the virtual object behavior operation according to the virtual object type, the initial state information corresponding to the virtual object type, and the behavior parameter value.
The method according to any one of claims 1 to 9, wherein the driving scene configuration information includes virtual object attribute information;

The method also includes:

Configure the corresponding virtual object attribute information for the virtual object attribute parameter.
A driving scene information processing device, characterized in that the device includes:

An obtaining module, configured to obtain driving scene configuration information, the driving scene configuration information including a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and a behavior parameter value corresponding to the virtual object type;

The determining module is configured to determine the corresponding virtual object behavior operation according to the virtual object behavior identifier;

The execution module is configured to execute the virtual object behavior operation according to the virtual object type and the behavior parameter value.
The device according to claim 13, wherein the determining module is configured to detect an execution identifier corresponding to the virtual object behavior identifier; the determining module is configured to, when the execution identifier is an executable identifier, according to The virtual object behavior identifier determines the corresponding virtual object behavior operation.
The apparatus according to claim 14, wherein the virtual object behavior identification includes a basic behavior identification; the basic behavior identification includes a constant-speed straight-line driving identification, a speed control identification, a driving along a lane line, and a lane-changing driving identification. At least one

The determining module is configured to, when the execution flag corresponding to the constant-speed straight-line driving flag is an executable flag, determine that the corresponding operation is a uniform-speed straight-line driving operation according to the constant-speed straight-line driving flag;

The determining module is configured to determine that the corresponding operation is a speed control operation according to the speed control identifier when the execution identifier corresponding to the speed control identifier is an executable identifier;

The determining module is configured to determine that the corresponding operation is a driving operation along the lane line according to the driving along the lane line when the execution flag corresponding to the driving along the lane line flag is an executable flag;

The determining module is configured to determine a lane-changing driving operation according to the lane-changing driving identifier when the execution identifier corresponding to the lane-changing driving identifier is an executable identifier.
The device according to claim 15, wherein the speed control indicator comprises at least one of a red light speed reducer indicator, a speed limit exceeding speed value speed reducer indicator, a distance-based speed reducer indicator, and an accelerator indicator;

The determining module is configured to determine that the corresponding sub operation is a red light deceleration sub-operation according to the red light deceleration sub-identification when the execution identifier corresponding to the red light deceleration sub-identification is the executable identifier;

The determining module is configured to determine that the corresponding sub-operation is the speed-limit-over-speed decelerator according to the speed-limit-over-speed deceleration sub-identifier when the execution identifier corresponding to the speed-limit deceleration sub-identifier is the executable identifier. operate;

The determining module is configured to determine that the corresponding sub-operation is a distance-based deceleration sub-operation according to the distance-based deceleration sub-identification when the execution identifier corresponding to the distance-based deceleration sub-identification is the executable identifier;

The determining module is configured to determine that the corresponding sub operation is an accelerator operation according to the accelerator sub identifier when the execution identifier corresponding to the accelerator sub identifier is the executable identifier.
The device according to claim 15, wherein the lane-changing driving indicator comprises at least one of a lane-changing sub-identification according to a preset route, a lane-changing sub-identification for overtaking, and an emergency avoiding sub-identification;

The determining module is configured to determine that the corresponding operation is to change lanes according to the preset route when the execution identifier corresponding to the lane change according to the preset route identifier is an executable identifier. operate;

The determining module is configured to determine that the corresponding sub-operation is the overtaking lane-changing sub-operation according to the overtaking lane-changing sub-indicator when the execution flag corresponding to the overtaking lane-changing sub-indicator is an executable flag;

The determining module is configured to determine that the corresponding sub-operation is an emergency avoiding sub-operation according to the emergency avoiding sub-identifier when the execution identifier corresponding to the emergency avoiding sub-identifier is an executable identifier.
The device according to claim 13, wherein the virtual object behavior identifier includes an abnormal behavior identifier; the behavior parameter value includes an abnormal behavior parameter value; the virtual object behavior operation includes an abnormal behavior operation;

The execution module is configured to execute the abnormal behavior operation according to the type of the virtual object and the abnormal behavior parameter value.
An electronic device comprising a memory and a processor, and a computer program is stored in the memory, wherein when the computer program is executed by the processor, the processor executes any of claims 1 to 12 The operation of the method described in one item.
A computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the operation of the method according to any one of claims 1 to 12 when the computer program is executed by a processor.