CN109960857A - A kind of emulation mode of laser radar, device and emulation platform - Google Patents
A kind of emulation mode of laser radar, device and emulation platform Download PDFInfo
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- CN109960857A CN109960857A CN201910151691.8A CN201910151691A CN109960857A CN 109960857 A CN109960857 A CN 109960857A CN 201910151691 A CN201910151691 A CN 201910151691A CN 109960857 A CN109960857 A CN 109960857A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Abstract
The application discloses emulation mode, device and the emulation platform of a kind of laser radar, and this method obtains the true train operation performance data of vehicle；The corresponding emulation car of vehicle is established using train operation performance data；First laser radar is provided on emulation car；Emulation planning driving path is determined in a simulated environment；Setting emulation object of reference in predeterminable area in a simulated environment；Control emulation car travels in emulation planning driving path, obtains the first emulation point cloud data that first laser radar detection emulation object of reference obtains.Emulation car is established according to the true train operation performance data of vehicle, when being emulated using the laser radar on emulation car, the detection point cloud data of first emulation point cloud data and the laser radar in real vehicles obtained more approaches, and improves the authenticity of simulation result.It establishes emulation car and disobeys and be against physical engine and realize emulation, compared to existing Lidar Simulation method, simulation efficiency is improved, while avoiding the problem that occupying a large amount of space resources in computer equipment.
Description
Technical field
This application involves simulation technical field more particularly to a kind of emulation modes of laser radar, device and emulation platform.
Background technique
Automatic Pilot technology is a kind of important technology of current automotive field, and the popular research of all big enterprises at present
Direction.Automatic Pilot technology relies primarily on the association of artificial intelligence, vision calculating, radar, monitoring device and global positioning system etc.
With cooperation, vehicle-mounted computer is allowed can to operate motor vehicles to automatic safe under the operation of nobody class active.For vehicle
The emulation of laser radar emulates the course of work of the laser radar under various environmental conditions on.Lidar Simulation pair
It is of great significance in the improvement of radar working performance with the safety for researching and developing and being promoted automatic Pilot strategy.
Existing Lidar Simulation technology is based on physical engine (such as illusory 4, UNITY etc.) Lai Shixian, passes through physics
Engine emulates data come drive parameter and the road model etc. for constructing auto model, vehicle, then simulates vehicle by physical engine
The course of work of laser radar on.However, for carry out the physical engine of Lidar Simulation usually exist starting slowly,
The problems such as stock number occupied in computer equipment is excessive causes the simulation efficiency of existing radar simulation technology very low.
In addition, the simulation parameter authenticity that physical engine constructs in simulation process is low, so as to cause physical engine pair is utilized
The simulation result of laser radar does not often have real value.
Summary of the invention
In order to solve above-mentioned technical problem of the existing technology, this application provides a kind of emulation sides of laser radar
Method, device and emulation platform can be improved simulation efficiency, and improve the authenticity of simulation result simultaneously.
Technical solution provided by the present application is specific as follows.
In a first aspect, the application provides a kind of emulation mode of laser radar, comprising:
Obtain the true train operation performance data of the first vehicle；
The corresponding emulation car of first vehicle is established using the train operation performance data；Is provided on the emulation car
One laser radar；
Emulation planning driving path is determined in a simulated environment；
The setting emulation object of reference in the predeterminable area under the simulated environment；The predeterminable area is to control the emulation
Vehicle in the emulation planning driving path when driving, the detectable area of the first laser radar；
It controls the emulation car to travel in the emulation planning driving path, obtains and imitated described in the first laser radar detection
The first emulation point cloud data that true object of reference obtains.
Optionally, setting emulation object of reference in the predeterminable area under the simulated environment, specifically includes:
The emulation object of reference is set to the first position in the preset range；
The method also includes:
Obtain the original point cloud data that the emulation object of reference is still in the second position；
It is closed according to the relative position of the position of the original point cloud data and the emulation car and the first position
System obtains reference point clouds data of the emulation object of reference in the first coordinate system of first laser radar.
Optionally, it is provided with second laser radar on the emulation object of reference, the method also includes:
Obtain the second emulation point cloud data that emulation car described in the second laser radar detection obtains；Second emulation
Point cloud data is the data in the second coordinate system of the second laser radar；
The second emulation point cloud data is subjected to coordinate conversion, acquisition the second simulated point cloud data are transformed into described
Corresponding third emulates point cloud data in first coordinate system of first laser radar；The third emulation point cloud data is for obtaining
First location information of the first laser radar；The first emulation point cloud data is for obtaining the first laser radar
Second location information；First location information is with second location information for mutually compareing.
Optionally, described to determine emulation planning driving path in a simulated environment, it specifically includes:
Obtain the map of target area；
Target planning driving path is determined from the map；
According to the position distribution of each point in target planning driving path described in the map, determined under the simulated environment
The corresponding emulation planning driving path of the target planning driving path.
Optionally, the true train operation performance data of the first vehicle of the acquisition, specifically include:
First vehicle is obtained from the true train operation performance data of stationary state extremely restricted driving car state；
The train operation performance data include: maximum travel acceleration and/or the corresponding maximum turning half of each running speed
Diameter.
Optionally, before the setting emulates object of reference, the method also includes:
It, can described in determination according to the detection angle of the first laser radar, detection range and the emulation planning driving path
Search coverage.
Second aspect, the application provide a kind of simulator of laser radar, comprising:
Train operation performance data acquisition module, for obtaining the true train operation performance data of the first vehicle；
Emulation car constructs module, for establishing the corresponding emulation car of first vehicle using the train operation performance data；
First laser radar is provided on the emulation car；
Planning driving path determining module is emulated, for determining emulation planning driving path in a simulated environment；
Object of reference setup module is emulated, for the setting emulation object of reference in the predeterminable area under the simulated environment；Institute
Predeterminable area is stated to control the emulation car in the emulation planning driving path when driving, the first laser radar it is detectable
Region；
It emulates data first and obtains module, travelled in the emulation planning driving path for controlling the emulation car, obtained
The first emulation point cloud data that emulation object of reference described in the first laser radar detection obtains.
Optionally, second laser radar, described device are provided on the emulation object of reference further include:
It emulates data second and obtains module, second obtained for obtaining emulation car described in the second laser radar detection
Emulate point cloud data；The second emulation point cloud data is the data in the second coordinate system of the second laser radar；
Emulate data third and obtain module, for will the second emulation point cloud data progress coordinate conversion, described in acquisition
Second simulated point cloud data are transformed into corresponding third emulation point cloud data in the first coordinate system of the first laser radar；Institute
State the first location information that third emulation point cloud data is used to obtain the first laser radar；The first emulation point cloud data
For obtaining the second location information of the first laser radar；First location information is used for second location information
Mutually control.
The third aspect, the application provide a kind of emulation platform of laser radar, comprising: processor, emulation car, emulation driving
Path and emulation object of reference；
The processor requires the emulation mode of the described in any item laser radars of 1-6 for perform claim；
The emulation car is constructed by the processor according to the true train operation performance data of the first vehicle；On the emulation car
It is provided with first laser radar；
The emulation planning driving path is determined by the processor；
The emulation object of reference is set in predeterminable area；The predeterminable area is to control the emulation car in the emulation
In planning driving path when driving, the detectable area of the first laser radar.
Optionally, second laser radar is provided on the emulation object of reference, the laser radar is described imitative for detecting
True vehicle obtains the second emulation point cloud data, and the second emulation point cloud data is transferred to the processor；Described second is imitative
True point cloud data is the data in the second coordinate system of the second laser radar.
Herein described method has the advantage that
The emulation mode of laser radar provided by the present application obtains the true train operation performance data of vehicle；Utilize driving property
Energy data establish the corresponding emulation car of vehicle；First laser radar is provided on emulation car；Emulation row is determined in a simulated environment
Bus or train route diameter；Setting emulation object of reference in predeterminable area in a simulated environment；Predeterminable area is that control emulation car is driven a vehicle in emulation
On path when driving, the detectable area of first laser radar；Finally, control emulation car travels in emulation planning driving path, obtain
Take the first emulation point cloud data that first laser radar detection emulation object of reference obtains.
Since in this method, emulation car is established according to the true train operation performance data of vehicle, therefore, the emulation is utilized
When laser radar on vehicle is emulated, the detection of first emulation point cloud data and the laser radar in real vehicles obtained
Point cloud data more approaches, to improve the authenticity of simulation result.Also, this method is based on true train operation performance data
Emulation car is established, disobeys and is against physical engine realization emulation, therefore compared to existing Lidar Simulation method, simulation efficiency
It is improved, while avoiding the problem that occupying a large amount of space resources in computer equipment.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow chart of the emulation mode of laser radar provided by the embodiments of the present application；
Fig. 2 is the flow chart of the emulation mode of another laser radar provided by the embodiments of the present application；
Fig. 3 is the flow chart of the emulation mode of another laser radar provided by the embodiments of the present application；
Fig. 4 is a kind of structural schematic diagram of the simulator of laser radar provided by the embodiments of the present application；
Fig. 5 is a kind of structural schematic diagram of the emulation platform of laser radar provided by the embodiments of the present application.
Specific embodiment
By being described above, currently, usually using the laser radar on physical engine emulation vehicle in various environmental conditions
Under the course of work.However, realizing since the emulation of laser radar relies on physical engine, to there is starting in physical engine slow again
Slowly, the problems such as a large amount of space resources are occupied in computer equipment causes simulation efficiency low.Meanwhile it is imitative using physical engine
Simulation parameter when true lacks authenticity, lower so as to cause the application of simulation result, lacks practical significance.
Based on problem above, after study, emulation mode, device and the emulation for providing a kind of laser radar are flat by inventor
Platform constructs emulation car by the true train operation performance data of the first vehicle, and in emulation car along emulation planning driving path driving process
The middle first laser radar using on emulation car obtains the first emulation point cloud data to emulation object of reference.This method does not rely on
Physical engine realizes emulation, emulation car is constructed with true train operation performance data, to ensure that the first emulation point cloud data more
To be true and reliable, and avoid physical engine and emulate existing problems.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Embodiment of the method one:
Referring to Fig. 1, which is a kind of flow chart of the emulation mode of laser radar provided by the embodiments of the present application.
As shown in Figure 1, the emulation mode of laser radar provided by the embodiments of the present application, comprising:
Step 101: obtaining the true train operation performance data of the first vehicle.
The purpose of emulation mode provided in this embodiment is the authenticity for improving simulation result, for this purpose, passing through in the present invention
First vehicle true train operation performance data construct the emulation car for having true garage's vehicle performance data.
Emulation mode provided in this embodiment is realized in a simulated environment.As an example, simulated environment can be by emulating
The emulation platform that software is built.
In the present embodiment, the train operation performance data of the first vehicle are obtained by actual test in actual environment.?
In practical application, it can control a vehicle and travel in different environments, to obtain the row of the first vehicle in different environments
Vehicle performance data.
As an example, can control the first vehicle and travelled with a certain speed, obtain the first vehicle under the speed most
Big turning radius, average turning radius etc..
As another example, it can control the first vehicle to travel on the ground of certain material, obtain the first vehicle at this
The attainable maximum travelling speed of traveling institute on the ground of material.
As another example, it can control the first vehicle and start and progressively reach limit driving states from stationary state,
Train operation performance data constantly are acquired to the first vehicle during this.Comprising from stationary state to the limit in these train operation performance data
Train operation performance data between driving states under each state.Train operation performance data can include but is not limited to maximum driving and accelerate
Degree and/or the corresponding maximum turning radius of each running speed.
It is understood that the above is only the example implementations of this step.In practical applications, other also can be used
Mode obtains the true train operation performance data of the first vehicle.Herein for this step specific implementation form without limit.
Step 102: establishing the corresponding emulation car of first vehicle using the train operation performance data；On the emulation car
It is provided with first laser radar.
Since emulation car is established according to the true train operation performance data of aforementioned first vehicle, emulation car is imitative
Have train operation performance data identical with true first vehicle when true environment downward driving.For example, if the first vehicle is with speed v1
Maximum turning radius is R1 when driving, then emulation car in a simulated environment with speed v1 when driving maximum turning radius also for R1.
Thereby it is ensured that the consistency of emulation car and real vehicles train operation performance.
It is understood that in the present embodiment, emulation car, which can be, has one of the true performance parameter of the first vehicle
The model (such as moveable cylindrical body) of shape without limitation, is also possible to the vehicle with true first vehicle appearance parameter
Model.
It should be noted that being provided with first laser radar in the present embodiment, on emulation car.First laser radar can be
Virtual laser radar with actual laser Radar Objective Characteristics.For example, the detection angle α 1 of actual laser radar, detection range are
D1, then detection angle α 1, detection range d1 of the set first laser radar in simulated environment.
Step 103: determining emulation planning driving path in a simulated environment.
In the present embodiment, emulation planning driving path be can be according to the corresponding generation of certain planning driving path in true geographical environment
Planning driving path is emulated, the emulation planning driving path being artificially arranged in simulated environment is also possible to.In the present embodiment, go for emulation
Length, width, the gradient, curvature, roughness of bus or train route diameter etc. are not limited.
It should be noted that step 103 can be executed prior to step 101 or step 102 in the present embodiment, it can also be with step
Rapid 101 or step 102 be performed simultaneously, can also be executed after step 101 or step 102 certainly.In the present embodiment, for step
Rapid 103 relative to step 101 and step 102 execution sequence without limit.
Step 104: the setting emulation object of reference in the predeterminable area under the simulated environment.
In the present embodiment, emulation object of reference is the object that first laser radar detects on emulation car.Thus, it is ensured that imitative
True object of reference has specific profile, and is detectable for first laser radar when emulation car is mobile.
In the present embodiment, simulation process is that the control emulation car travels in the emulation planning driving path, and utilizes imitative
First laser radar on true vehicle detects emulation object of reference, and acquisition detects data as simulation result.Therefore, as long as
Object of reference is emulated when emulation car is detectable along emulation planning driving path driving process.Described in the present embodiment will control
In the emulation planning driving path when driving, the detectable area of the first laser radar is defined as predeterminable area to emulation car,
Specifically, emulation object of reference is set in the predeterminable area.
In the present embodiment, it may be predetermined that the detectable area of first laser radar.As a kind of possible realization side
Formula can be visited described in determination according to the detection angle of the first laser radar, detection range and the emulation planning driving path
Region is surveyed as predeterminable area.
The emulation object of reference being arranged in simulated environment can be one, or multiple；Multiple emulation objects of reference can
To be set to the ipsilateral of emulation planning driving path, also can be set in the not ipsilateral of emulation planning driving path；Multiple emulation objects of reference can
To be arranged according to constant spacing, can also be randomly provided；Multiple emulation objects of reference can be same type, be also possible to difference
Type.In the present embodiment, between the quantity of emulation object of reference, type, the specific setting position in predeterminable area, setting
Away from etc. be not limited.
Step 105: controlling the emulation car and travelled in the emulation planning driving path, obtain the first laser radar and visit
Survey the first emulation point cloud data that the emulation object of reference obtains.
It, can be by emulation car on control triggering emulation platform along emulation planning driving path traveling in simulation process.It can be with
Understand, since emulation car is established according to the true train operation performance data of the first vehicle, in simulation process,
The train operation performance data of emulation car when driving suit with the true train operation performance data of the first vehicle.For example, emulation travelling data
In the peak acceleration of the first vehicle be a1, then emulation car acceleration when driving in emulation planning driving path does not exceed a1.
Emulation car is controlled in emulation planning driving path when driving, can be control emulation car at the uniform velocity v2 traveling, it can also be with
It is the acceleration of control emulation car sectional and/or Reduced Speed Now.
In the present embodiment, if setting emulation object of reference have it is multiple, this step first emulate point cloud data may wrap
Containing the corresponding emulation point cloud data of each emulation object of reference；If the emulation object of reference being arranged is one, this step first is imitative
True point cloud data is the corresponding emulation point cloud data of the emulation object of reference.In the present embodiment, the first emulation point cloud data is imitative
First laser radar is in a simulated environment to the emulation detection result of emulation object of reference on true vehicle.
The emulation mode of laser radar provided by the present application obtains the true train operation performance data of the first vehicle；Utilize row
Vehicle performance data establishes the corresponding emulation car of the first vehicle；First laser radar is provided on emulation car；In a simulated environment really
Surely planning driving path is emulated；Setting emulation object of reference in predeterminable area in a simulated environment；Predeterminable area is that control emulation car exists
It emulates in planning driving path when driving, the detectable area of first laser radar；Finally, control emulation car is in emulation planning driving path
Traveling obtains the first emulation point cloud data that first laser radar detection emulation object of reference obtains.
Since in this method, emulation car is established according to the true train operation performance data of the first vehicle, therefore, this is utilized
Laser thunder when laser radar on emulation car is emulated, on the first emulation point cloud data obtained and true first vehicle
The detection point cloud data reached more approaches, to improve the authenticity of simulation result.Also, this method is based on true driving
Performance data establishes emulation car, disobeys and is against physical engine and realizes emulation, therefore compared to existing Lidar Simulation method,
Simulation efficiency is improved, while avoiding the problem that occupying a large amount of space resources in computer equipment.
Based on previous embodiment, present invention also provides the emulation modes of another laser radar.Below with reference to embodiment
This method is described in detail with attached drawing.
Embodiment of the method two:
Referring to fig. 2, which is the flow chart of the emulation mode of another laser radar provided by the embodiments of the present application.
As shown in Fig. 2, the emulation mode of laser radar provided in this embodiment, comprising:
Step 201: obtaining the true train operation performance data of the first vehicle.
Step 202: establishing the corresponding emulation car of first vehicle using the train operation performance data；On the emulation car
It is provided with first laser radar.
Step 203: determining emulation planning driving path in a simulated environment.
In the present embodiment, step 101 is to step 103 in the implementation and previous embodiment of step 201 to step 203
Implementation is identical, and the associated description about step 201 to step 203 can refer to previous embodiment, is no longer repeated herein.
Step 204: in the predeterminable area under the simulated environment, emulation object of reference being set to first position.
In the present embodiment, emulation object of reference can be any reference object with clear profile.For example, emulation object of reference
It can be the second vehicle, herein, the second mentioned vehicle, can be has with the first vehicle referred in abovementioned steps 201
The vehicle of identical appearance parameter is also possible to other vehicles that apparent parameter is different from the first vehicle.First position specifically refers to
As setting position of the emulation object of reference in predeterminable area.It is understood that if being provided in predeterminable area multiple
Second vehicle is as emulation object of reference, then each second vehicle as emulation object of reference all has corresponding first position,
That is its corresponding setting position in predeterminable area.
Step 205: controlling the emulation car and travelled in the emulation planning driving path, obtain the first laser radar and visit
Survey the first emulation point cloud data that the emulation object of reference obtains.
In the present embodiment, the implementation of step 205 is identical as the implementation of step 105 in previous embodiment, about
The associated description of step 205 can refer to previous embodiment, no longer be repeated herein.
Step 206: obtaining the original point cloud data that the emulation object of reference is still in the second position.
In the present embodiment, the original point cloud number as emulation object of reference in the second position can be obtained using various ways
According to.As an example, object of reference can be emulated by the one or more laser radar detections being arranged in true geographical environment, from
And emulation object of reference is obtained in the original point cloud data of the second position.As another example, it can also be acquired by photographic device
Object of reference is emulated in the image of the second position, image procossing is carried out to the image, obtains the emulation for being located at the second position in image
Original point cloud data of the point cloud data of object of reference as the emulation object of reference.
It should be noted that the second position can be in true geographical environment emulation object of reference is static and parks in this step
In any position.It is understood that if being provided with multiple emulation objects of reference in predeterminable area, it is each in this step
Emulating object of reference has its corresponding second position and its original point cloud data corresponding with the second position.
It is understood that original point cloud data be to be located at the second position emulation object of reference in true geographical environment
The data really acquired.And the first emulation point cloud data that step 205 obtains is that first laser radar is emulating on emulation car
To the emulation detection result of emulation object of reference under environment.In the present embodiment, original point cloud data can be converted to emulation reference
Reference point clouds data of the object at first position.To which reference point clouds data can be used as mutual with the first emulation point cloud data
Control, to understand working condition of the emulation car compared to true first vehicle, to improve and adjust to improve laser thunder
Up to the accuracy of emulation.
It is understood that step 206 can be executed prior to step 201-205 in the present embodiment, it can also be with step
Any one step is performed simultaneously in 201-205, can also be executed after any one step of step 201-205 certainly.This
In embodiment, for step 206 relative to step 201-205 execution sequence without limit.
Step 207: opposite with the first position according to the position of the original point cloud data and the emulation car
Positional relationship obtains reference point clouds data of the emulation object of reference in the first coordinate system of first laser radar.
The target of this step is the point cloud data obtained when emulation object of reference is set to first position, that is, reference point clouds number
According to.
In the present embodiment, original point cloud data is the point cloud data obtained under a unified detection coordinate system.It can be with
Understand, original point cloud data all has corresponding positional relationship with the origin in the detection coordinate system.
As a kind of implementation, in the present embodiment, which can be placed in first position.Due to first laser thunder
It is it is believed that therefore, in conjunction with the position and first position of emulation car, can obtain up to the setting position on emulation car
Position of the first position under the first coordinate system of first laser radar.Thereafter, according to original point cloud data and positioned at first
The relative positional relationship for the origin set can obtain the reference point clouds data that original point cloud data is gone under the first coordinate system.
According to the relative positional relationship of above-mentioned original point cloud data and the second position, under conditions of known first position,
It is readily available reference point clouds data corresponding to emulation object of reference when emulation object of reference is set to first position.The reference point clouds
Data can be used as with the first emulation point cloud data and mutually compare.
It is above a kind of emulation mode of laser radar provided by the embodiments of the present application.The emulation mode can obtain imitative
Original point cloud data of the true object of reference in true geographical environment can obtain emulation object of reference imitative according to original point cloud data
The corresponding reference point clouds data in the first position of true environment.The reference point clouds data and the first emulation point cloud data are imitative respectively
The resulting point cloud data of true geographical environment of true object of reference and the point cloud data in simulated environment, therefore can be mutually right
According to determining the information such as working condition of the emulation car in simulated environment by results of comparison, and then according to information such as working conditions
The emulation setting for improving emulation car is determined how, the accuracy of Lidar Simulation is improved.
In practical applications, the emulation positioning to laser radar can also be realized during Lidar Simulation.Therefore,
The emulation mode of another laser radar is provided below, this method is described in detail with attached drawing in conjunction with the embodiments.
Embodiment of the method three:
Referring to Fig. 3, which is the flow chart of the emulation mode of another laser radar provided by the embodiments of the present application.
As shown in figure 3, the emulation mode of laser radar provided in this embodiment, comprising:
Step 301: obtaining the true train operation performance data of the first vehicle.
Step 302: establishing the corresponding emulation car of first vehicle using the train operation performance data；On the emulation car
It is provided with first laser radar.
In the following, the present embodiment will determine a kind of specific implementation form of emulation planning driving path by step 303-305 description.
Step 303: obtaining the map of target area.
This step selectes one piece of target area from true geographical environment, obtains the map of target area for constructing emulation
Environment.It is required that including at least a planning driving path in target area.
Step 304: target planning driving path is determined from the map.
It is understood that since at least one planning driving path can be obtained on the map of target area, so as to
Using any one or more planning driving path on the map as target planning driving path, obtained for target planning driving path accordingly
Corresponding emulation planning driving path under simulated environment.
Step 305: according to the position distribution of each point in target planning driving path described in the map, in the simulated environment
Under determine the corresponding emulation planning driving path of the target planning driving path.
It is obtained since emulation planning driving path is that middle target planning driving path is corresponding according to the map, emulate planning driving path
It is identical as the curvature of target planning driving path.Each point constitutes the target planning driving path in target planning driving path, therefore according to each point point
Cloth, can be according to distribution mode and each point distribution orientation, spacing etc., and the corresponding emulation of target planning driving path is determined in fitting
Planning driving path.
Step 306: the setting emulation object of reference in the predeterminable area under the simulated environment is emulated and is provided on object of reference
Second laser radar.
It should be strongly noted that for the positioning for realizing first laser radar on emulation car, imitative in the embodiment of the present application
Second laser radar is especially provided on the emulation object of reference laid in true environment.Second laser radar is for detecting the emulation
Vehicle.
Step 307: controlling the emulation car and travelled in the emulation planning driving path, obtain the first laser radar and visit
Survey the first emulation point cloud data that the emulation object of reference obtains.
Step 308: obtaining the second emulation point cloud data that emulation car described in the second laser radar detection obtains；It is described
Second emulation point cloud data is the data in the second coordinate system of the second laser radar.
It should be noted that the point cloud data that each laser radar obtains is using the coordinate system of the laser radar as base
It is quasi-.In the present embodiment, the coordinate system of first laser radar is known as the first coordinate system；The coordinate system of second laser radar is known as
Second coordinate system.It is understood that the second emulation point cloud data that second laser radar detection emulation car obtains is the second seat
Data in mark system.And the first emulation point cloud data that first laser radar detection emulation object of reference obtains is in the first coordinate system
Data.
Step 309: the second emulation point cloud data being subjected to coordinate conversion, the second emulation point cloud data is obtained and turns
Change to corresponding third emulation point cloud data in the first coordinate system of the first laser radar.
Coordinate is converted, in particular to the second simulated point cloud data in the second coordinate system is converted to the first coordinate in this step
Point cloud data is emulated about the third of emulation car in system.
In the present embodiment, emulation positioning can be carried out to first laser radar using two ways.
First way can emulate point cloud data acquisition to the first location information of first laser radar based on third.
It is understood that being detected under the first coordinate system that point cloud data is first laser radar to the emulation car since third emulates
Therefore the point cloud data arrived can be realized the positioning to emulation car.It is determined simultaneously because emulation car and first laser radar have
Installation site relationship therefore closed according to the installation site of the location information of emulation car and emulation car and first laser radar
System, also can accordingly obtain the first location information of first laser radar under the first coordinate system.Therefore, the third simulated point cloud
Data effect first is that, obtain the first location information of the first laser radar.
The second way can obtain the first location information to first laser radar based on the first emulation point cloud data.
It is understood that position of the emulation object of reference in simulated environment be it is determining, the first emulation point cloud data is first laser
The point cloud data that radar obtains emulation object of reference detection, therefore, according to the setting position of emulation object of reference and the first emulation
Point cloud data can correspondingly obtain the second location information of the first laser radar in the first coordinate system.Therefore, described first
Emulate point cloud data effect first is that, obtain the second location information of the first laser radar.
According to foregoing description it is found that the first location information and the second location information are to first laser radar respectively using not
With the location information that mode obtains, and the first location information and the second location information are all the first coordinates in first laser radar
Location information under system, therefore, the first location information and the second location information can be used as mutual control.According to results of comparison tune
The whole emulation to first laser radar, to improve accuracy of simulation.
Emulation mode based on the laser radar that previous embodiment provides, correspondingly, the application also provides a kind of laser thunder
The simulator reached.The specific implementation of the device is described below with reference to embodiment and attached drawing.
Installation practice:
Referring to fig. 4, which is a kind of structural schematic diagram of the simulator of laser radar provided by the embodiments of the present application.
As shown in figure 4, the simulator of laser radar provided in this embodiment, comprising:
Train operation performance data acquisition module 401, for obtaining the true train operation performance data of the first vehicle；
Emulation car constructs module 402, for establishing the corresponding emulation of first vehicle using the train operation performance data
Vehicle；First laser radar is provided on the emulation car；
Planning driving path determining module 403 is emulated, for determining emulation planning driving path in a simulated environment；
Object of reference setup module 404 is emulated, for the setting emulation object of reference in the predeterminable area under the simulated environment；
The predeterminable area is to control the emulation car in the emulation planning driving path when driving, and the first laser radar is visited
Survey region；
It emulates data first and obtains module 405, travel, obtain in the emulation planning driving path for controlling the emulation car
Take the first emulation point cloud data that emulation object of reference described in the first laser radar detection obtains.
Since emulation car is established according to the true train operation performance data of the first vehicle, using on the emulation car
Laser radar when being emulated, the detection of first emulation point cloud data and the laser radar on true first vehicle obtained
Point cloud data more approaches, to improve the authenticity of simulation result.Also, the simulator is based on true train operation performance
Data establish emulation car, disobey and are against physical engine realization emulation, therefore compared to existing Lidar Simulation method, emulation
Efficiency is improved, while avoiding the problem that occupying a large amount of space resources in computer equipment.
Optionally, object of reference setup module 404 is emulated, is specifically included:
First setting unit, for the emulation object of reference to be set to the first position in the preset range.
Optionally, which can also include:
Original point cloud data obtains module, the original point cloud number for being still in the second position for obtaining the emulation object of reference
According to；
Reference point clouds data acquisition module, for according to the position of the original point cloud data and the emulation car with
The relative positional relationship of the first position obtains the reference point clouds number that the emulation object of reference is set to the first position
According to.
The reference point clouds data and the first emulation point cloud data are emulated obtained by the true geographical environment of object of reference respectively
Point cloud data and the point cloud data in simulated environment, therefore can mutually compare, emulation car is determined by results of comparison
The information such as the working condition in simulated environment, and then set according to the emulation that the information such as working condition determine how improvement emulation car
It sets, improves the accuracy of Lidar Simulation.
In practical applications, the emulation positioning to laser radar can also be realized during Lidar Simulation.It is optional
Ground is provided with second laser radar on the emulation object of reference, and above-mentioned apparatus can also include:
It emulates data second and obtains module, second obtained for obtaining emulation car described in the second laser radar detection
Emulate point cloud data；The second emulation point cloud data is the data in the second coordinate system of the second laser radar；
Emulate data third and obtain module, for will the second emulation point cloud data progress coordinate conversion, described in acquisition
Second simulated point cloud data are transformed into corresponding third emulation point cloud data in the first coordinate system of the first laser radar；Institute
State the first location information that third emulation point cloud data is used to obtain the first laser radar；The first emulation point cloud data
For obtaining the second location information of the first laser radar；First location information is used for second location information
Mutually control.
According to foregoing description it is found that the first location information and the second location information are to first laser radar respectively using not
With the location information that mode obtains, and the first location information and the second location information are all the first coordinates in first laser radar
Location information under system, therefore, the first location information and the second location information can be used as mutual control.According to results of comparison tune
The whole emulation to first laser radar, to improve accuracy of simulation.
Optionally, emulation planning driving path determining module 403 can specifically include:
Map acquiring unit, for obtaining the map of target area；
Target planning driving path determination unit, for determining target planning driving path from the map；
Planning driving path determination unit is emulated, the position of each point point in the target planning driving path according to the map
Cloth determines the corresponding emulation planning driving path of the target planning driving path under the simulated environment.
Optionally, train operation performance data acquisition module 401 can specifically include:
First acquisition unit, for obtaining first vehicle from the true driving property of stationary state extremely restricted driving car state
It can data.
In the present embodiment, the train operation performance data may include: maximum travel acceleration and/or each running speed
Corresponding maximum turning radius.
Optionally, which can also include:
Detectable area determining module, for according to the detection angle of the first laser radar, detection range and described
Planning driving path is emulated, determines the detectable area.
The emulation mode of the laser radar provided based on the above embodiment, the application correspondingly, also provide a kind of laser thunder
The emulation platform reached.The platform is described below with reference to embodiment and attached drawing.
Referring to Fig. 5, which is the structural schematic diagram of the emulation platform of laser radar provided in this embodiment.
As shown in figure 5, the emulation platform of laser radar provided in this embodiment, comprising:
Processor 501, emulation car 502, emulation planning driving path 503 and emulation object of reference 504；
The processor 501 is used to execute the emulation mode of laser radar described above；
The emulation car 502 is constructed by the processor 501 according to the true train operation performance data of the first vehicle；It is described imitative
First laser radar is provided on true vehicle 502；
The emulation planning driving path 503 is determined by the processor 501；
The emulation object of reference 504 is set in predeterminable area；The predeterminable area is the control emulation car 502 in institute
It states in emulation planning driving path 503 when driving, the detectable area of the first laser radar.
Since in the emulation platform, emulation car 502 is established according to the true train operation performance data of the first vehicle, because
This, when being emulated using the laser radar on the emulation car 502, the first emulation point cloud data obtained and true first vehicle
The detection point cloud data of laser radar on more approaches, to improve the authenticity of simulation result.Also, this method base
Emulation car 502 is established in true train operation performance data, disobeys and is against physical engine realization emulation, therefore simulation efficiency is mentioned
Height, while avoiding the problem that occupying a large amount of space resources in computer equipment.
Optionally, it is provided with second laser radar in emulation object of reference 504 described in emulation platform, the laser radar is used
The second emulation point cloud data is obtained in detecting the emulation car 502, and the second emulation point cloud data is transferred to the place
Manage device 501；The second emulation point cloud data is the data in the second coordinate system of the second laser radar.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two
More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner
It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word
Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to
Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c
(a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also
To be multiple.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality
For applying example, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to embodiment of the method
Part explanation.The apparatus embodiments described above are merely exemplary, wherein described be used as separate part description
Unit and module may or may not be physically separated.Furthermore it is also possible to select it according to the actual needs
In some or all of unit and module achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying
In the case where creative work, it can understand and implement.
The above is only the specific embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (10)
1. a kind of emulation mode of laser radar characterized by comprising
Obtain the true train operation performance data of the first vehicle；
The corresponding emulation car of first vehicle is established using the train operation performance data；First is provided on the emulation car to swash
Optical radar；
Emulation planning driving path is determined in a simulated environment；
The setting emulation object of reference in the predeterminable area under the simulated environment；The predeterminable area is to control the emulation car to exist
In the emulation planning driving path when driving, the detectable area of the first laser radar；
It controls the emulation car to travel in the emulation planning driving path, obtains and emulate ginseng described in the first laser radar detection
The the first emulation point cloud data obtained according to object.
2. the method according to claim 1, wherein being arranged in the predeterminable area under the simulated environment
Object of reference is emulated, is specifically included:
The emulation object of reference is set to the first position in the preset range；
The method also includes:
Obtain the original point cloud data that the emulation object of reference is still in the second position；
According to the relative positional relationship of the position of the original point cloud data and the emulation car and the first position, obtain
Obtain reference point clouds data of the emulation object of reference in the first coordinate system of first laser radar.
3. the method according to claim 1, wherein be provided with second laser radar on the emulation object of reference,
The method also includes:
Obtain the second emulation point cloud data that emulation car described in the second laser radar detection obtains；The second simulated point cloud
Data are the data in the second coordinate system of the second laser radar；
The second emulation point cloud data is subjected to coordinate conversion, the second simulated point cloud data is obtained and is transformed into described first
Corresponding third emulates point cloud data in first coordinate system of laser radar；The third emulation point cloud data is described for obtaining
First location information of first laser radar；The first emulation point cloud data is for obtaining the second of the first laser radar
Location information；First location information is with second location information for mutually compareing.
4. method according to claim 1-3, which is characterized in that described to determine emulation driving in a simulated environment
Path specifically includes:
Obtain the map of target area；
Target planning driving path is determined from the map；
According to the position distribution of each point in target planning driving path described in the map, determined under the simulated environment described
The corresponding emulation planning driving path of target planning driving path.
5. method according to claim 1-3, which is characterized in that the true driving property of the first vehicle of the acquisition
Energy data, specifically include:
First vehicle is obtained from the true train operation performance data of stationary state extremely restricted driving car state；
The train operation performance data include: maximum travel acceleration and/or the corresponding maximum turning radius of each running speed.
6. method according to claim 1-3, which is characterized in that before the setting emulates object of reference, institute
State method further include:
According to the detection angle of the first laser radar, detection range and the emulation planning driving path, determine described detectable
Region.
7. a kind of simulator of laser radar characterized by comprising
Train operation performance data acquisition module, for obtaining the true train operation performance data of the first vehicle；
Emulation car constructs module, for establishing the corresponding emulation car of first vehicle using the train operation performance data；It is described
First laser radar is provided on emulation car；
Planning driving path determining module is emulated, for determining emulation planning driving path in a simulated environment；
Object of reference setup module is emulated, for the setting emulation object of reference in the predeterminable area under the simulated environment；It is described pre-
If region is to control the emulation car in the emulation planning driving path when driving, the detectable regions of the first laser radar
Domain；
It emulates data first and obtains module, travelled in the emulation planning driving path for controlling the emulation car, described in acquisition
The first emulation point cloud data that emulation object of reference described in first laser radar detection obtains.
8. device according to claim 7, which is characterized in that it is provided with second laser radar on the emulation object of reference,
Described device further include:
It emulates data second and obtains module, the second emulation obtained for obtaining emulation car described in the second laser radar detection
Point cloud data；The second emulation point cloud data is the data in the second coordinate system of the second laser radar；
It emulates data third and obtains module, for the second emulation point cloud data to be carried out coordinate conversion, obtain described second
Simulated point cloud data are transformed into corresponding third emulation point cloud data in the first coordinate system of the first laser radar；Described
Three emulation point cloud datas are used to obtain the first location information of the first laser radar；The first emulation point cloud data is used for
Obtain the second location information of the first laser radar；First location information and second location information are for mutual
Control.
9. a kind of emulation platform of laser radar characterized by comprising processor, emulation car, emulation planning driving path and emulation
Object of reference；
The processor requires the emulation mode of the described in any item laser radars of 1-6 for perform claim；
The emulation car is constructed by the processor according to the true train operation performance data of the first vehicle；It is arranged on the emulation car
There is first laser radar；
The emulation planning driving path is determined by the processor；
The emulation object of reference is set in predeterminable area；The predeterminable area is to control the emulation car to drive a vehicle in the emulation
On path when driving, the detectable area of the first laser radar.
10. platform according to claim 9, which is characterized in that it is provided with second laser radar on the emulation object of reference,
The laser radar obtains the second emulation point cloud data for detecting the emulation car, and the second emulation point cloud data is passed
It is defeated by the processor；The second emulation point cloud data is the data in the second coordinate system of the second laser radar.
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