CN107966693A - A kind of mobile lidar emulation mode rendered based on depth - Google Patents
A kind of mobile lidar emulation mode rendered based on depth Download PDFInfo
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- CN107966693A CN107966693A CN201711269132.4A CN201711269132A CN107966693A CN 107966693 A CN107966693 A CN 107966693A CN 201711269132 A CN201711269132 A CN 201711269132A CN 107966693 A CN107966693 A CN 107966693A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Traffic Control Systems (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention discloses a kind of mobile lidar emulation mode rendered based on depth.The test scene being pre-designed is loaded into calculator memory, and according to the model and characterisitic parameter of required simulation mobile lidar, loads mobile lidar simulation model；Start simulation process, proceed by periodic simulation calculation, obtain position and angle of the emulated mobile lidar in test scene global coordinate system；The position obtained according to second step and angle set the parameter of virtual camera or virtual camera group, and carrying out depth to test scene renders；According to the characterisitic parameter of emulated mobile lidar, selected part or total data correspond to the emulation data on scanning element as laser radar in the depth data rendered from the depth；By the emulation data of acquisition, exported or stored with specified interface；Back to second step, until simulation run terminates.The present invention can greatly improve simulation efficiency, realize the real-time simulation of each model mobile lidar.
Description
Technical field
It is specifically a kind of vehicle-mounted to be swashed based on what depth rendered the present invention relates to mobile lidar simulation technical field
Optical radar emulation mode.
Background technology
, it is necessary to carry out each class testing in the research and development of intelligent vehicle.Before real steering vectors, emulation testing need to be carried out first.Car
Carry the core component that laser radar is intelligent vehicle.Emulation to mobile lidar, is the important foundation for carrying out emulation testing.
The content of the invention
For above-mentioned shortcoming existing in the prior art, the technical problem to be solved in the present invention is to provide one kind to be based on
The mobile lidar emulation mode that depth renders.
The used to achieve the above object technical solution of the present invention is：A kind of mobile lidar rendered based on depth
Emulation mode, comprises the following steps：
The first step：The test scene being pre-designed is loaded into calculator memory, and according to required simulation vehicle-mounted laser
The model and characterisitic parameter of radar, load mobile lidar simulation model；
Second step：Start simulation process, proceed by periodic simulation calculation, obtain emulated mobile lidar
Position and angle in test scene global coordinate system；
3rd step：The position obtained according to second step and angle set the parameter of virtual camera or virtual camera group,
Depth is carried out to test scene to render；
4th step：According to the characterisitic parameter of emulated mobile lidar, the depth data rendered from the depth
Middle selected part or total data correspond to the emulation data on scanning element as laser radar；
5th step：By the emulation data of acquisition, exported or stored with specified interface；
6th step：Back to second step, until simulation run terminates.
The characterisitic parameter of the mobile lidar includes：The angular range of horizontal field of view, the angular range of vertical visual field,
Horizontal resolution, vertical resolution, precision, scanning distance and data transmission rate.
One emulation cycle of the periodically simulation calculation comprises the following steps：
Obtain the operation posture of current time Virtual Intelligent vehicle or vehicle drive emulator in virtual traffic environment；
According to it is described operation attitude data and default mobile lidar installation data calculate emulated it is vehicle-mounted swash
Position coordinates and attitude angle of the optical radar in test scene global coordinate system；The mobile lidar installation data is vehicle-mounted
Laser radar is in the coordinate and angle using vehicle centroid as the local coordinate system of origin.
The operation posture includes the XYZ three-dimensional location coordinates, speed, acceleration of virtual vehicle barycenter, around tri- axis of XYZ
Attitude angle, angular speed, angular acceleration.
Position coordinates of the mobile lidar in test scene global coordinate system be：
PLi=PVe*MRLi*MTLi
Wherein, PVeFor position coordinates of the vehicle centroid in test scene global coordinate system, MRLiFor vehicle local coordinate
It is spin matrix, MTLiFor vehicle local coordinate system translation matrix；
Attitude angle of the mobile lidar in test scene global coordinate system be：
ALi=AVe+AVLi
Wherein, AVeFor attitude angle of the vehicle in test scene global coordinate system, AVLiIt is mobile lidar in vehicle office
Attitude angle in portion's coordinate system.
The parameter of virtual camera or the virtual camera group meets condition：
The level of virtual camera or virtual camera group, vertical angle of view are all higher than or horizontal, vertical equal to laser radar
Look at angle straight；
The horizontal output resolution ratio of virtual camera or virtual camera group is more than the horizontal sweep point quantity of laser radar；
The vertical output resolution ratio of virtual camera or virtual camera group is more than the vertical scanning quantity of laser radar.
The resolution ratio that the depth renders is more than the scanning resolution of emulated mobile lidar.
The depth data that depth renders in 3rd step, computer graphics card is stored in the form of floating number
Show in storage unit.
4th step shows that the 3rd step is read in storage unit obtains depth data from graphics card, by these data conversion storages
Into computer hosting storage unit.
Selected part or total data are corresponded to as laser radar in the depth data rendered from the depth
Emulation data on scanning element, are specially：
Depth wash with watercolours is carried out according to the scanning sample interval of the simulation laser radar, virtual camera or virtual camera group
The two parameters of the resolution ratio of dye are chosen.
If the scanning sample interval of the simulation laser radar carries out depth with virtual camera or virtual camera group
The resolution ratio rendered matches completely, then chooses the depth data that all depth renders；
Otherwise in the depth data that the depth renders, depth corresponding with laser radar scanning sampled point is chosen
Value.
The present invention has the following advantages and beneficial effect：
1st, the present invention realizes mobile lidar high-speed simulation using computer graphics techniques, can greatly improve emulation
Efficiency, realizes the real-time simulation of each model mobile lidar.
2nd, the present invention utilizes work of the computer software to mobile lidar in the virtual traffic environment built in advance
Process is emulated, and obtains the analog detection data consistent with mobile lidar measured data.
3rd, the present invention controls simulation laser according to the model and characterisitic parameter of the mobile lidar of required emulation
The technical characteristics such as intensity, detection range, detection accuracy, laser interval, scan frequency, to reach to different type, different parameters
The purpose that the laser radar of setting is emulated.
Brief description of the drawings
Fig. 1 is the method for the present invention flow chart.
Embodiment
The present invention is described in further detail with reference to the accompanying drawings and embodiments.
, it is necessary to according to the requirement of emulation experiment before being emulated, test scene is established.This test scene is based on figure
Shape technique construction, virtual traffic environment using accurate 3-D geometric model and attribute information as main contents, include by
Road, means of transportation, road affiliated facility, the static content such as building established according to common scale ruler, also including can be according to
The dynamic contents such as motor vehicle that designated movement rule is moved in three dimensions, non-motor vehicle, pedestrian.Test scene is with three-dimensional mould
The mode of type data file is stored in hard disc of computer or other memories.
Before being emulated, the model of the mobile lidar of emulation required for user can select or set and characteristic ginseng
Number.Simulation software will control the intensity of simulation laser, detection range, detection accuracy, laser interval, scanning according to these parameters
The technical characteristics such as frequency.To achieve the purpose that to emulate the laser radar of different type, different parameters setting.
In simulation process, virtual mobile lidar installs simulated Virtual Intelligent vehicle or vehicle drive emulator
On, following vehicle operation.User can set installation site and angle of the mobile lidar on virtual test vehicle.
Emulation mode is：Vehicle drive emulator or virtual intelligence are controlled in a manner of pilot steering or automatic Pilot by user
Energy vehicle is run in the virtual traffic environment built in advance.In the process of running, virtual mobile lidar is constantly to virtual
Traffic scene is scanned, and obtains the cloud data of sampling, and these data are sent out or stored to arrive by data-interface
In data file.Data-interface or data used in data-interface or data memory format and the mobile lidar emulated
Storage format is consistent.
As shown in Figure 1, a kind of mobile lidar emulation mode rendered based on depth, including
The first step：Test scene is loaded into calculator memory, and with tree structure tissue and management virtual traffic ring
The data in border.According to the model and characterisitic parameter of required simulation mobile lidar, mobile lidar simulation model is loaded.
Second step：Start simulation process, proceed by periodic simulation calculation.It is first after an emulation cycle starts
The operation posture of current time Virtual Intelligent vehicle or vehicle drive emulator in virtual traffic environment is first obtained, including it is virtual
The XYZ three-dimensional location coordinates of vehicle centroid, speed, acceleration, around the attitude angle of tri- axis of XYZ, angular speed, angular acceleration, and
Emulated mobile lidar is calculated in test scene according to these data and default mobile lidar installation data
Position and angle in global coordinate system.
3rd step：The parameter for the parameter setting virtual camera for emulating mobile lidar is obtained according to second step, it is right
Test scene carries out depth and renders.The level of virtual camera or virtual camera group, vertical angle of view are all higher than or equal to laser
The level of radar, vertical angle of view；The horizontal output resolution ratio of virtual camera or virtual camera group is (on a horizontal scanning line
Pixel quantity) should exceed laser radar horizontal sweep point quantity.Vertical output resolution ratio (quantity of horizontal scanning line) should
More than the vertical scanning quantity of laser radar.If a virtual camera visual angle or resolution ratio are inadequate, automatically in same position
The virtual camera of increase identical parameters is put, and deflects certain angle, to cover the scanning range of laser radar.
The depth data that depth is rendered, the display that computer graphics card is stored in the form of floating number store list
In member.Resolution ratio when depth renders is carried out, should be greater than the scanning resolution of institute's simulation laser radar.Depth render process is existing
There is technology, Z-Buffer algorithms or other related algorithms can be used to complete.
4th step：Show that the 3rd step is read in storage unit obtains depth data, these data conversion storages are arrived from graphics card
In computer hosting storage unit.According to the parameter of emulated mobile lidar, from the depth data obtained selected part or
Total data corresponds to the emulation data on scanning element as laser radar.
5th step：By the emulation data of acquisition, exported or stored with specified interface.
6th step：Second step is returned to, until simulation run terminates.
In one embodiment of the invention, can implement in accordance with the following steps：
The first step：The three-dimensional test scene of the traffic environment of required simulation is established using 3 d modeling software, and with three-dimensional
The mode of model of place file stores.
Second step：According to the technical parameter of emulation mobile lidar, configurable deep renders the basic ginseng of virtual camera
Number, including horizontal field of view angle, vertical field of view angle, horizontal resolution, vertical resolution, far plane distance, hither plane distance.
3rd step：According to the installation site of the state parameter of virtual vehicle and emulation mobile lidar, calculate virtual
The position of video camera and attitude angle, and OpenGL or other graphics rendering softwares are used according to these parameters, carry out depth data
Render calculating.If the field angle of virtual camera is less than the scanning angle of emulation mobile lidar, rotatably virtually take the photograph
Camera is repeatedly rendered, to obtain enough depth datas.
4th step：Shown in computer graphics card and a texture is created in storage unit, the form of texture pixel storage is
Floating type.The storage of test scene depth data will be obtained from specified camera position to this texture.Each texture pixel is deposited
Store up a depth data.
5th step：It is relayed to per frame data after the completion of sampling by texture in computer hosting storage unit.According to institute's emulation car
Its sampling process of parameter simulation and the sampling interval of laser radar are carried, the corresponding simulation of each scanning element is extracted from depth data
Sampled data.
6th step：Sampled data is converted to the sampled result for meeting institute's simulation laser radar scanning data format, is passed through
Interface is exported or is stored in external memory storage.
Claims (10)
1. a kind of mobile lidar emulation mode rendered based on depth, it is characterised in that comprise the following steps：
The first step：The test scene being pre-designed is loaded into calculator memory, and according to required simulation mobile lidar
Model and characterisitic parameter, load mobile lidar simulation model；
Second step：Start simulation process, proceed by periodic simulation calculation, obtain emulated mobile lidar and surveying
Position and angle in the scape global coordinate system of examination hall；
3rd step：The position obtained according to second step and angle set the parameter of virtual camera or virtual camera group, to surveying
Examination hall scape carries out depth and renders；
4th step：According to the characterisitic parameter of emulated mobile lidar, selected in the depth data rendered from the depth
Part or all of data are taken to correspond to the emulation data on scanning element as laser radar；
5th step：By the emulation data of acquisition, exported or stored with specified interface；
6th step：Back to second step, until simulation run terminates.
A kind of 2. mobile lidar emulation mode rendered based on depth according to claim 1, it is characterised in that institute
Stating the characterisitic parameter of mobile lidar includes：The angular range of horizontal field of view, the angular range of vertical visual field, horizontal resolution
Rate, vertical resolution, precision, scanning distance and data transmission rate.
A kind of 3. mobile lidar emulation mode rendered based on depth according to claim 1, it is characterised in that institute
An emulation cycle for stating periodic simulation calculation comprises the following steps：
Obtain the operation posture of current time Virtual Intelligent vehicle or vehicle drive emulator in virtual traffic environment；
Emulated vehicle-mounted laser thunder is calculated according to the operation attitude data and default mobile lidar installation data
Up to the position coordinates and attitude angle in test scene global coordinate system；The mobile lidar installation data is vehicle-mounted laser
Radar is in the coordinate and angle using vehicle centroid as the local coordinate system of origin.
A kind of 4. mobile lidar emulation mode rendered based on depth according to claim 3, it is characterised in that institute
The XYZ three-dimensional location coordinates, speed, acceleration of operation posture including virtual vehicle barycenter are stated, attitude angle around tri- axis of XYZ,
Angular speed, angular acceleration.
A kind of 5. mobile lidar emulation mode rendered based on depth according to claim 3, it is characterised in that institute
Stating position coordinates of the mobile lidar in test scene global coordinate system is：
PLi=PVe*MRLi*MTLi
Wherein, PVeFor position coordinates of the vehicle centroid in test scene global coordinate system, MRLiRotated for vehicle local coordinate system
Matrix, MTLiFor vehicle local coordinate system translation matrix；
Attitude angle of the mobile lidar in test scene global coordinate system be：
ALi=AVe+AVLi
Wherein, AVeFor attitude angle of the vehicle in test scene global coordinate system, AVLiLocally sat in vehicle for mobile lidar
Attitude angle in mark system.
A kind of 6. mobile lidar emulation mode rendered based on depth according to claim 1, it is characterised in that institute
The parameter for stating virtual camera or virtual camera group meets condition：
The level of virtual camera or virtual camera group, vertical angle of view be all higher than or equal to laser radar it is horizontal, vertically regard
Angle；
The horizontal output resolution ratio of virtual camera or virtual camera group is more than the horizontal sweep point quantity of laser radar；
The vertical output resolution ratio of virtual camera or virtual camera group is more than the vertical scanning quantity of laser radar.
A kind of 7. mobile lidar emulation mode rendered based on depth according to claim 1, it is characterised in that institute
State the scanning resolution that the resolution ratio that depth renders is more than emulated mobile lidar.
A kind of 8. mobile lidar emulation mode rendered based on depth according to claim 1, it is characterised in that institute
The depth data that depth renders in the 3rd step is stated, the display that computer graphics card is stored in the form of floating number stores list
In member.
A kind of 9. mobile lidar emulation mode rendered based on depth according to claim 1, it is characterised in that institute
State the 4th step and show that the 3rd step is read in storage unit obtains depth data from graphics card, by these data conversion storages to calculating owner
In storage unit.
A kind of 10. mobile lidar emulation mode rendered based on depth according to claim 1, it is characterised in that
Selected part or total data are corresponded on scanning element as laser radar in the depth data rendered from the depth
Emulation data, be specially：
Carry out what depth rendered according to the scanning sample interval of the simulation laser radar, virtual camera or virtual camera group
The two parameters of resolution ratio are chosen.
Rendered if the scanning sample interval of the simulation laser radar carries out depth with virtual camera or virtual camera group
Resolution ratio match completely, then choose the depth data that all depth render；
Otherwise in the depth data that the depth renders, depth value corresponding with laser radar scanning sampled point is chosen.
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| CN109683175B (en) * | 2018-12-24 | 2021-03-30 | 广州文远知行科技有限公司 | Laser radar configuration method, device, equipment and storage medium |
| CN109683175A (en) * | 2018-12-24 | 2019-04-26 | 广州文远知行科技有限公司 | Laser radar configuration method, device, equipment and storage medium |
| CN111316119A (en) * | 2018-12-28 | 2020-06-19 | 深圳市大疆创新科技有限公司 | Radar simulation method and device |
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| CN112312113A (en) * | 2020-10-29 | 2021-02-02 | 贝壳技术有限公司 | Method, device and system for generating three-dimensional model |
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