CN106021750A - Generation method and generation system for simulation scene and reconstruction unit thereof - Google Patents
Generation method and generation system for simulation scene and reconstruction unit thereof Download PDFInfo
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- CN106021750A CN106021750A CN201610353894.1A CN201610353894A CN106021750A CN 106021750 A CN106021750 A CN 106021750A CN 201610353894 A CN201610353894 A CN 201610353894A CN 106021750 A CN106021750 A CN 106021750A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/30—Circuit design
- G06F30/36—Circuit design at the analogue level
- G06F30/367—Design verification, e.g. using simulation, simulation program with integrated circuit emphasis [SPICE], direct methods or relaxation methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30221—Sports video; Sports image
Abstract
The application discloses a generation method and generation system for a simulation scene and a reconstruction unit thereof. The generation method for the reconstruction unit of the simulation scene comprises following steps: obtaining video information of a scene to be reconstructed; extracting correlations among feature object information and feature objects in video information and processing correlations among feature object information and feature objects in order to obtain digital feature information; and processing digital feature information and obtaining the reconstruction unit of the simulation scene. The reconstruction unit of the simulation scene is read and rendered after the reconstruction unit of the simulation scene is obtained so that the simulation scene is generated. After the generation method for the reconstruction unit of the simulation scene is utilized for generating the reconstruction unit of the simulation scene, simulation software is utilized for read and render the reconstruction unit of the simulation scene such that the simulation scene of the scene to be reconstructed is finished. Therefore, the requirement for proficiency of simulation software by a simulation designer is greatly reduced.
Description
Technical field
The application relates to simulating scenes reconstruction technique field, more particularly, it relates to a kind of simulating scenes and
The generation method of its reconstruction unit and the system of generation.
Background technology
Emulation is effective research means of a kind of functional test for experimental subject and checking, simulation process
In need to set up experimental subject, simulating scenes etc..
In prior art, design of Simulation person generally uses simulation software to generate simulating scenes, according to emulation need
The length of road, width, gradient parameter, the position of vehicle, kinestate ginseng in simulating scenes to be configured
Number and road signs parameter etc., the generation process of whole simulating scenes needs design of Simulation person soft to emulation
Part inputs substantial amounts of various parameter, and various parameters are revised repeatedly, the life of whole simulating scenes
One-tenth process is higher to the requirement of the simulation software Grasping level of design of Simulation person.
Summary of the invention
For solving above-mentioned technical problem, the invention provides the generation of a kind of simulating scenes and reconstruction unit thereof
Method and the system of generation, to realize reducing the simulation software grasp journey generating simulating scenes to design of Simulation person
The purpose of the requirement of degree.
For realizing above-mentioned technical purpose, embodiments provide following technical scheme:
A kind of generation method of simulating scenes reconstruction unit, including:
Obtain the video information of scene to be reconstructed；
Extract mutual relation between the feature object information in described video information and feature object, to described spy
Levy mutual relation between object information and feature object to carry out processing acquisition digital feature information；
Described digital feature information is processed, it is thus achieved that simulating scenes reconstruction unit, described imitative to utilize
True scene rebuilding unit generates simulating scenes.
Preferably, extract mutual relation between the feature object information in described video information and feature object,
Carry out mutual relation between described feature object information and feature object processing and obtain digital feature information bag
Include:
Using the every two field picture in described video information as feature extraction object；
Extract the stationary body feature in described feature extraction object and dynamic object feature and stationary body
Mutual relation between feature and dynamic object feature；
Mate the geometrical correspondence between every two field picture and corresponding time relationship, it is thus achieved that described stationary body
Feature and the relative position relation of dynamic object feature, and the movement locus of described dynamic object feature；
Carry out described relative position relation, movement locus, dynamic object feature and stationary body feature turning
Change, it is thus achieved that digital feature information.
Preferably, described stationary body feature includes: road information and road signs information；
Described dynamic object feature includes: driving vehicle information.
Preferably, described road information includes road width, length and grade information, and with reference to track,
Described is track, acquiring video information point place with reference to track；
Described road signs information includes positional information and the type information of traffic signs；
Described driving vehicle information includes driving vehicle specification information and relative movement information, described relatively
Movable information includes relative distance information and relative velocity.
A kind of generation method of simulating scenes, including:
Obtaining simulating scenes reconstruction unit, described simulating scenes reconstruction unit is described in any of the above-described embodiment
Simulating scenes reconstruction unit；
Read described simulating scenes reconstruction unit, render generation simulating scenes.
A kind of generation system of simulating scenes reconstruction unit, including:
Information acquisition unit, for obtaining the video information of scene to be reconstructed；
Feature extraction unit, for extracting between the feature object information in described video information and feature object
Mutual relation, carries out processing acquisition numeral special to mutual relation between described feature object information and feature object
Reference ceases；
Processing unit, for described digital feature information is processed, it is thus achieved that simulating scenes reconstruction unit,
To utilize described simulating scenes reconstruction unit to generate simulating scenes.
Preferably, described feature extraction unit includes:
Object confirms module, is used for the every two field picture in described video information as feature extraction object；
Characteristic extracting module, for extracting the stationary body feature in described feature extraction object and goer
Mutual relation between body characteristics and stationary body feature and dynamic object feature；
Matching module, for mating the geometrical correspondence between every two field picture and corresponding time relationship, obtains
Obtain the relative position relation of described stationary body feature and dynamic object feature, and described dynamic object is special
The movement locus levied；
Modular converter, for by described relative position relation, movement locus, dynamic object feature and static state
Object features is changed, it is thus achieved that digital feature information.
Preferably, described stationary body feature includes: road information and road signs information；
Described dynamic object feature includes: driving vehicle information.
Preferably, described road information includes road width, length, the gradient and reference track, described
It is track, acquiring video information point place with reference to track；
Described road signs information includes positional information and the type information of traffic signs；
Described driving vehicle information includes driving vehicle specification information and relative movement information, described relatively
Movable information includes relative distance information and relative velocity.
A kind of generation system of simulating scenes, including:
Simulating scenes reconstruction unit generates system, is used for obtaining simulating scenes reconstruction unit, described emulation field
It is that the simulating scenes reconstruction unit described in any of the above-described embodiment generates system that scape reconstruction unit generates system；
Signal generating unit, is used for reading described simulating scenes reconstruction unit, renders generation simulating scenes.
From technique scheme it can be seen that embodiments provide a kind of simulating scenes and reconstruction thereof
The generation method of unit and the system of generation, wherein, the generation method of described simulating scenes reconstruction unit is first
By obtaining the video information of scene to be reconstructed, and to the feature object information in described video information and spy
Levy mutual relation between object to extract and process, it is thus achieved that digital feature information；Then special to described numeral
Reference breath carries out processing acquisition simulating scenes reconstruction unit.After obtaining described simulating scenes reconstruction unit
Simulating scenes can be generated by described simulating scenes reconstruction unit being read out, rendering.By above-mentioned
Flow process is it is found that utilize the generation method of described simulating scenes reconstruction unit to generate simulating scenes and rebuild single
After unit, it is only necessary to utilize simulation software described simulating scenes reconstruction unit to be read out Rendering operations i.e.
The simulating scenes that can complete scene to be reconstructed is rebuild, and significantly reduces the simulation software to design of Simulation person
The requirement of Grasping level.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to reality
Execute the required accompanying drawing used in example or description of the prior art to be briefly described, it should be apparent that below,
Accompanying drawing in description is only embodiments of the invention, for those of ordinary skill in the art, not
On the premise of paying creative work, it is also possible to obtain other accompanying drawing according to the accompanying drawing provided.
The generation method of a kind of simulating scenes reconstruction unit that the embodiment that Fig. 1 is the application provides
Schematic flow sheet；
A kind of feature object extracted in described video information that the embodiment that Fig. 2 is the application provides
Mutual relation between information and feature object, enters mutual relation between described feature object information and feature object
Row processes the idiographic flow schematic diagram obtaining digital feature information；
The flow process signal of the generation method of a kind of simulating scenes that the embodiment that Fig. 3 is the application provides
Figure；
The generation system of a kind of simulating scenes reconstruction unit that the embodiment that Fig. 4 is the application provides
Structural representation；
The structural representation of a kind of feature extraction unit that the embodiment that Fig. 5 is the application provides；
The structural representation of the generation system of a kind of simulating scenes that the embodiment that Fig. 6 is the application provides
Figure.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the present invention, and
It is not all, of embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art are not doing
Go out the every other embodiment obtained under creative work premise, broadly fall into the scope of protection of the invention.
The embodiment of the present application provides a kind of generation method of simulating scenes reconstruction unit, as it is shown in figure 1, bag
Include:
S101: obtain the video information of scene to be reconstructed.
It should be noted that can be possessed by the mobile phone etc. of the drive recorder of vehicle or design of Simulation person
The hardware device of photographic head completes to obtain the process of the video information of scene to be reconstructed.
S102: extract mutual relation between the feature object information in described video information and feature object is right
Between described feature object information and feature object, mutual relation carries out processing acquisition digital feature information.
On the basis of above-described embodiment, in an embodiment of the application, extract described video information
In feature object information include:
Extract the stationary body feature in described video information and dynamic object feature.
On the basis of above-described embodiment, in another embodiment of the application, as in figure 2 it is shown, extract
Mutual relation between feature object information in described video information and feature object, believes described feature object
Breath and feature object between mutual relation carry out process obtain digital feature information include:
S1021: using the every two field picture in described video information as feature extraction object；
S1022: extract the stationary body feature in described feature extraction object and dynamic object feature and quiet
Mutual relation between state object features and dynamic object feature；
S1023: mate the geometrical correspondence between every two field picture and corresponding time relationship, it is thus achieved that described quiet
State object features and the relative position relation of dynamic object feature, and the motion of described dynamic object feature
Track；
S1024: by described relative position relation, movement locus, dynamic object feature and stationary body feature
Change, it is thus achieved that digital feature information.
It should be noted that in an embodiment of the application, by the every frame figure in described video information
As including as feature extraction object: described video information played out, while playing, obtain institute
State every two field picture of video information as feature extraction object.But in other embodiments of the application, also
Can be by separating described video information frame by frame, it is thus achieved that the every two field picture in video information is as feature extraction
Object.The detailed process obtaining described feature extraction object is not limited by the application, concrete regarding reality
Depending on situation.
On the basis of above-described embodiment, in another embodiment of the application, described stationary body is special
Levy and include: road information and road signs information；
Described dynamic object feature includes: driving vehicle information.
It should be noted that in a specific embodiment of the application, described road information includes road
Width, length and grade information, and with reference to track, described is acquiring video information point institute with reference to track
In track；
Described road signs information includes positional information and the type information of traffic signs；
Described driving vehicle information includes driving vehicle specification information and relative movement information, described relatively
Movable information includes relative distance information and relative velocity.
It should be noted that the position that described acquiring video information point is acquiring video information device place；
Described relative distance information is the range information of the most described acquiring video information point, and described relative velocity is believed
Breath is the velocity information of relative video acquisition of information point.
S103: process described digital feature information, it is thus achieved that simulating scenes reconstruction unit, to utilize
Described emulation reconstruction unit generates simulating scenes.
It should be noted that described simulating scenes reconstruction unit can utilize simulation software to be read out, wash with watercolours
The simulating scenes that can complete scene to be reconstructed after dye is rebuild, and significantly reduces and imitates design of Simulation person
The requirement of true software Grasping level.
On the basis of above-described embodiment, in the further embodiment of the application, to described numerical characteristic
Information processes, it is thus achieved that simulating scenes reconstruction unit includes:
S1031: determine preset rules；
S1032: described digital feature information is carried out assignment by preset rules, it is thus achieved that simulating scenes is rebuild single
Unit.
It should be noted that the format convention reading file that described preset rules is simulation software, work as institute
When stating the format convention difference reading file of simulation software, described preset rules is the most different.The application couple
The particular content of described preset rules does not limit, concrete depending on practical situation.
Also, it should be noted after described digital feature information being carried out assignment according to preset rules
Obtaining simulating scenes reconstruction unit, described simulating scenes reconstruction unit is scene to be reconstructed corresponding to a certain
Simulation software can read file, utilizes this simulation software i.e. to can read described simulating scenes reconstruction unit,
And then after it is rendered, generate the simulating scenes of scene to be reconstructed.
Accordingly, the embodiment of the present application additionally provides a kind of generation method of simulating scenes, as it is shown on figure 3,
Including:
S201: obtaining simulating scenes reconstruction unit, described simulating scenes reconstruction unit is any of the above-described enforcement
Simulating scenes reconstruction unit described in example；
S202: read described simulating scenes reconstruction unit, render generation simulating scenes.
In sum, the embodiment of the present application provides a kind of generation method of simulating scenes and reconstruction unit thereof,
Wherein, the generation method of described simulating scenes reconstruction unit first passes through the video letter obtaining scene to be reconstructed
Breath, and mutual relation between the feature object information in described video information and feature object is carried out extract with
Process, it is thus achieved that digital feature information；Then carry out described digital feature information processing obtaining simulating scenes
Reconstruction unit.By to described simulating scenes reconstruction unit after obtaining described simulating scenes reconstruction unit
It is read out, renders the simulating scenes that can generate scene to be reconstructed.By above-mentioned flow process it is found that
After the generation method utilizing described simulating scenes reconstruction unit generates simulating scenes reconstruction unit, it is only necessary to
Utilize simulation software that described simulating scenes reconstruction unit is read out Rendering operations and can complete field to be reconstructed
The simulating scenes of scape is rebuild, and significantly reduces the requirement of the simulation software Grasping level to design of Simulation person.
Accordingly, the embodiment of the present application additionally provides the generation system of a kind of simulating scenes reconstruction unit, as
Shown in Fig. 4, including:
Information acquisition unit A10, for obtaining the video information of scene to be reconstructed；
Feature extraction unit A20, for extracting the feature object information in described video information and feature object
Between mutual relation, mutual relation between described feature object information and feature object is carried out process obtain numeral
Characteristic information；
Processing unit A30, for processing described digital feature information, it is thus achieved that simulating scenes is rebuild single
Unit, to utilize described simulating scenes reconstruction unit to generate simulating scenes.
It should be noted that in a specific embodiment of the application, described information acquisition unit A10
Including drive recorder and the photographic head that is connected with described feature extraction unit A20, described drive recorder
For shooting the video information of scene to be reconstructed, then described video information is played out, with described spy
The video information play is shot, to described video information by the photographic head levying extraction unit A20 connection
While shooting, every two field picture of described video information is carried out above-mentioned by described feature extraction unit A20
Extract operation.
But in other embodiments of the application, described information acquisition unit A10 obtains described scene to be reconstructed
Video information after it preserves and is sent to described feature extraction unit A20, described feature extraction list
Unit A20 carries out lock out operation frame by frame to described video information, it is thus achieved that the every two field picture in described video information is again
Carry out said extracted operation.This is not limited by the application, concrete depending on practical situation.
On the basis of above-described embodiment, in a preferred embodiment of the application, as it is shown in figure 5, institute
State feature extraction unit A20 to include:
Object confirms modules A 21, is used for the every two field picture in described video information as feature extraction pair
As；
Characteristic extracting module A22, for extracting the stationary body feature in described feature extraction object with dynamic
Mutual relation between object features and stationary body feature and dynamic object feature；
Matching module A23, for mating the geometrical correspondence between every two field picture and corresponding time relationship,
Obtain the relative position relation of described stationary body feature and dynamic object feature, and described dynamic object
The movement locus of feature；
Modular converter A24, for by described relative position relation, movement locus, dynamic object feature and quiet
State object features is changed, it is thus achieved that digital feature information.
It should be noted that in an embodiment of the application, by the every frame figure in described video information
As including as feature extraction object: described video information played out, while playing, obtain institute
State every two field picture of video information as feature extraction object.But in other embodiments of the application, also
Can be by separating described video information frame by frame, it is thus achieved that the every two field picture in video information is as feature extraction
Object.The detailed process obtaining described feature extraction object is not limited by the application, concrete regarding reality
Depending on situation.
On the basis of above-described embodiment, in an embodiment of the application, described stationary body feature
Including: road information and road signs information；
Described dynamic object feature includes: driving vehicle information.
It should be noted that in a specific embodiment of the application, described road information includes road
Width, length, the gradient and reference track, described is track, acquiring video information point place with reference to track；
Described road signs information includes positional information and the type information of traffic signs；
Described driving vehicle information includes driving vehicle specification information and relative movement information, described relatively
Movable information includes relative distance information and relative velocity.
It should be noted that the position that described acquiring video information point is described information acquisition unit A10 place
Put；Described relative distance information is the range information of the most described information acquisition unit A10, described speed relatively
Degree information is the velocity information of the most described information acquisition unit A10.
On the basis of above-described embodiment, in another embodiment of the application, described processing unit A30
For determining preset rules, and by preset rules, described digital feature information is carried out assignment, it is thus achieved that emulation
Scene rebuilding unit, to utilize described simulating scenes reconstruction unit to generate simulating scenes.
It should be noted that the format convention reading file that described preset rules is simulation software, work as institute
When stating the format convention difference reading file of simulation software, described preset rules is the most different.The application couple
The particular content of described preset rules does not limit, concrete depending on practical situation.
Also, it should be noted after described digital feature information being carried out assignment according to preset rules
Obtaining simulating scenes reconstruction unit, described simulating scenes reconstruction unit is scene to be reconstructed corresponding to a certain
Simulation software can read file, utilizes this simulation software i.e. to can read described simulating scenes reconstruction unit,
And then after it is rendered, generate the simulating scenes of scene to be reconstructed.
Accordingly, the embodiment of the present application additionally provides the generation system of a kind of simulating scenes, as shown in Figure 6,
Including:
Simulating scenes reconstruction unit generates system B10, is used for obtaining simulating scenes reconstruction unit, described imitative
It is that the simulating scenes reconstruction unit described in any of the above-described embodiment is raw that true scene rebuilding unit generates system B10
One-tenth system B10；
Signal generating unit B20, is used for reading described simulating scenes reconstruction unit, renders generation simulating scenes.
It should be noted that described signal generating unit B20 is to can read imitating of described simulating scenes reconstruction unit
True software, i.e. its to can read the format convention of file consistent with described preset rules.
In sum, the embodiment of the present application provides a kind of generation method of simulating scenes and reconstruction unit thereof
And generation system, wherein, it is to be reconstructed that the generation method of described simulating scenes reconstruction unit first passes through acquisition
The video information of scene, and mutually close between the feature object information in described video information and feature object
System extracts and processes, it is thus achieved that digital feature information；Then described digital feature information is processed
Obtain simulating scenes reconstruction unit.By to described emulation after obtaining described simulating scenes reconstruction unit
Scene rebuilding unit is read out, render and can generate simulating scenes.By above-mentioned flow process it is found that
After the generation method utilizing described simulating scenes reconstruction unit generates simulating scenes reconstruction unit, it is only necessary to
Utilize simulation software that described simulating scenes reconstruction unit is read out Rendering operations and can complete field to be reconstructed
The simulating scenes of scape is rebuild, and significantly reduces the requirement of the simulation software Grasping level to design of Simulation person.
In this specification, each embodiment uses the mode gone forward one by one to describe, and each embodiment stresses
Being the difference with other embodiments, between each embodiment, identical similar portion sees mutually.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses
The present invention.Multiple amendment to these embodiments will be aobvious and easy for those skilled in the art
See, generic principles defined herein can without departing from the spirit or scope of the present invention,
Realize in other embodiments.Therefore, the present invention is not intended to be limited to the embodiments shown herein,
And it is to fit to the widest scope consistent with principles disclosed herein and features of novelty.
Claims (10)
1. the generation method of a simulating scenes reconstruction unit, it is characterised in that including:
Obtain the video information of scene to be reconstructed；
Extract mutual relation between the feature object information in described video information and feature object, to described spy
Levy mutual relation between object information and feature object to carry out processing acquisition digital feature information；
Described digital feature information is processed, it is thus achieved that simulating scenes reconstruction unit, described imitative to utilize
True scene rebuilding unit generates simulating scenes.
The generation method of simulating scenes reconstruction unit the most according to claim 1, it is characterised in that
Extract mutual relation between the feature object information in described video information and feature object, to described characteristic body
Between body information and feature object mutual relation carry out process obtain digital feature information include:
Using the every two field picture in described video information as feature extraction object；
Extract the stationary body feature in described feature extraction object and dynamic object feature and stationary body
Mutual relation between feature and dynamic object feature；
Mate the geometrical correspondence between every two field picture and corresponding time relationship, it is thus achieved that described stationary body
Feature and the relative position relation of dynamic object feature, and the movement locus of described dynamic object feature；
Carry out described relative position relation, movement locus, dynamic object feature and stationary body feature turning
Change, it is thus achieved that digital feature information.
The generation method of simulating scenes reconstruction unit the most according to claim 2, it is characterised in that
Described stationary body feature includes: road information and road signs information；
Described dynamic object feature includes: driving vehicle information.
The generation method of simulating scenes reconstruction unit the most according to claim 3, it is characterised in that
Described road information includes road width, length and grade information, and with reference to track, described with reference to car
Road is track, acquiring video information point place；
Described road signs information includes positional information and the type information of traffic signs；
Described driving vehicle information includes driving vehicle specification information and relative movement information, described relatively
Movable information includes relative distance information and relative velocity.
5. the generation method of a simulating scenes, it is characterised in that including:
Obtaining simulating scenes reconstruction unit, described simulating scenes reconstruction unit is any one of claim 1-5 institute
The simulating scenes reconstruction unit stated；
Read described simulating scenes reconstruction unit, render generation simulating scenes.
6. the generation system of a simulating scenes reconstruction unit, it is characterised in that including:
Information acquisition unit, for obtaining the video information of scene to be reconstructed；
Feature extraction unit, for extracting between the feature object information in described video information and feature object
Mutual relation, carries out processing acquisition numeral special to mutual relation between described feature object information and feature object
Reference ceases；
Processing unit, for described digital feature information is processed, it is thus achieved that simulating scenes reconstruction unit,
To utilize described simulating scenes reconstruction unit to generate simulating scenes.
The generation system of simulating scenes reconstruction unit the most according to claim 6, it is characterised in that
Described feature extraction unit includes:
Object confirms module, is used for the every two field picture in described video information as feature extraction object；
Characteristic extracting module, for extracting the stationary body feature in described feature extraction object and goer
Mutual relation between body characteristics and stationary body feature and dynamic object feature；
Matching module, for mating the geometrical correspondence between every two field picture and corresponding time relationship, obtains
Obtain the relative position relation of described stationary body feature and dynamic object feature, and described dynamic object is special
The movement locus levied；
Modular converter, for by described relative position relation, movement locus, dynamic object feature and static state
Object features is changed, it is thus achieved that digital feature information.
The generation system of simulating scenes reconstruction unit the most according to claim 7, it is characterised in that
Described stationary body feature includes: road information and road signs information；
Described dynamic object feature includes: driving vehicle information.
The generation system of simulating scenes reconstruction unit the most according to claim 8, it is characterised in that
Described road information includes road width, length, the gradient and reference track, and described reference track is for regarding
Frequently track, acquisition of information point place；
Described road signs information includes positional information and the type information of traffic signs；
Described driving vehicle information includes driving vehicle specification information and relative movement information, described relatively
Movable information includes relative distance information and relative velocity.
10. the generation system of a simulating scenes, it is characterised in that including:
Simulating scenes reconstruction unit generates system, is used for obtaining simulating scenes reconstruction unit, described emulation field
It is that the simulating scenes reconstruction unit described in any one of claim 6-9 generates system that scape reconstruction unit generates system
System；
Signal generating unit, is used for reading described simulating scenes reconstruction unit, renders generation simulating scenes.
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| CN107436986A (en) * | 2017-08-07 | 2017-12-05 | 北京汽车研究总院有限公司 | The integrating device and Simulation Application method of active safety systems of vehicles |
| CN107678306A (en) * | 2017-10-09 | 2018-02-09 | 驭势（上海）汽车科技有限公司 | Dynamic scene information is recorded and emulation back method, device, equipment and medium |
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