CN110399672A - Streetscape emulation mode, device and the electronic equipment of automatic driving vehicle - Google Patents
Streetscape emulation mode, device and the electronic equipment of automatic driving vehicle Download PDFInfo
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Abstract
The application proposes streetscape emulation mode, device and the electronic equipment of a kind of automatic driving vehicle, wherein method includes: to obtain the current driving location of vehicle when detecting current driving scene is night running scene；The multiple fixed elements and mobile element of outside vehicle environment corresponding with current driving location are obtained, and the database that inquiry prestores obtains streetscape data corresponding with current driving location；The color of multiple fixed elements and mobile element is determined according to streetscape data；Coloring treatment is carried out to multiple fixed elements and mobile element according to color and generates rendering streetscape, and rendering streetscape is shown into the predeterminated position in vehicle.Thus, solve the problems, such as that the utilization rate of night pilotless automobile in the prior art is relatively low, by being emulated automatically to outside vehicle environment in night running, the external world is originally used for the environment of nearly black and white with the street view display on colored, similar daytime to passenger in visual form, promotes the utilization rate of pilotless automobile.
Description
Technical field
This application involves automatic Pilot technical field more particularly to a kind of streetscape emulation modes of automatic driving vehicle, dress
It sets and electronic equipment.
Background technique
Currently, passenger can choose to be gone respectively by taking automatic driving vehicle with the continuous development of unmanned technology
A destination.
It is understood that passenger, when taking automatic driving vehicle, most concerned problem is the safety driven, also
It is whether vehicle can accurately identify, judge external environment information, in addition, passenger oneself also there are the need of observation outside vehicle environment
It asks, however, dim light allows passenger that can not or be difficult to see outside vehicle environment clearly when riding at night, finally will affect night
Between pilotless automobile utilization rate.
Apply for content
The application be intended to solve at least to a certain extent it is above-mentioned in the related technology the technical issues of one of.
For this purpose, first purpose of the application is to propose a kind of streetscape emulation mode of automatic driving vehicle, solve
The relatively low problem of the utilization rate of night pilotless automobile in the prior art, by night running automatically to outside vehicle
Environment is emulated, and the external world is originally used for the environment of nearly black and white with the street view display on colored, similar daytime in visual form
To passenger, the utilization rate of pilotless automobile is promoted, promotes experiencing by bus for passenger.
Second purpose of the application is to propose a kind of streetscape simulator of automatic driving vehicle.
The third purpose of the application is to propose a kind of computer equipment.
The 4th purpose of the application is to propose a kind of non-transitorycomputer readable storage medium.
In order to achieve the above object, the application first aspect embodiment proposes a kind of streetscape emulation side of automatic driving vehicle
Method, comprising: when detecting current driving scene is night running scene, obtain the current driving location of vehicle；Acquisition and institute
State the multiple fixed elements and mobile element of the corresponding outside vehicle environment of current driving location, and the database that inquiry prestores
Obtain streetscape data corresponding with the current driving location；The multiple fixed element and shifting are determined according to the streetscape data
The color of dynamic element；Coloring treatment is carried out to the multiple fixed element and mobile element according to the color and generates rendering street
Scape, and the rendering streetscape is shown into the predeterminated position in the vehicle.
In addition, the streetscape emulation mode of the automatic driving vehicle of the embodiment of the present application, also has following additional technology special
Sign:
Optionally, the rendering streetscape is shown after the predeterminated position of the vehicle described, further includes: pass through peace
Camera in entrucking obtains the passenger position in vehicle；The corresponding range of visibility of passenger is determined according to passenger position；To institute
The rendering streetscape stated in the corresponding range of visibility of passenger amplifies processing and shows, and to the corresponding sight of the passenger
The rendering streetscape outside range carries out virtualization processing and shows.
Optionally, the rendering streetscape is shown after the predeterminated position of the vehicle described, further includes: acquisition pair
The operational order of the rendering streetscape of display；Wherein, the operational order includes: that amplification instruction, diminution instruction and closing refer to
One or more of enable.
Optionally, the multiple fixed elements for obtaining outside vehicle environment corresponding with the current driving location and shifting
Dynamic element, comprising: corresponding with the current driving location by the infrared camera pair for being mounted on each position of outside vehicle
Outside vehicle environment carry out captured in real-time and obtain the multiple fixed elements and mobile element of the outside vehicle environment.
Optionally, described that the rendering streetscape is shown into the predeterminated position in the vehicle, comprising: by being arranged in vehicle
Comprehensive camera assembly the rendering streetscape is shown on the photoelectric glass of vehicle.
In order to achieve the above object, the application second aspect embodiment proposes a kind of streetscape emulation dress of automatic driving vehicle
It sets, comprising: first obtains module, for obtaining the current of vehicle when detecting current driving scene is night running scene
Traveling-position；Second obtains module, for obtaining multiple fixations of outside vehicle environment corresponding with the current driving location
Element and mobile element；Enquiry module obtains streetscape corresponding with the current driving location for inquiring the database prestored
Data；First determining module, for determining the color of the multiple fixed element and mobile element according to the streetscape data；It is raw
At module, rendering streetscape is generated for carrying out coloring treatment to the multiple fixed element and mobile element according to the color；
Display module, for the rendering streetscape to be shown the predeterminated position in the vehicle.
In addition, the streetscape simulator of the automatic driving vehicle of the embodiment of the present application, also has following additional technology special
Sign:
Optionally, the device, further includes: third obtains module, for being obtained by the camera in installation vehicle
Passenger position in vehicle；Second determining module, for determining the corresponding range of visibility of passenger according to passenger position；Handle mould
Block for amplifying processing to the rendering streetscape in the corresponding range of visibility of the passenger and showing, and multiplies to described
The rendering streetscape outside the corresponding range of visibility of visitor carries out virtualization processing and shows.
Optionally, described device, further includes: the 4th obtains module, for obtaining the behaviour to the rendering streetscape of display
It instructs；Wherein, the operational order includes: one or more of amplification instruction, diminution instruction and out code；Operation
Module, for being operated according to the operational order to the rendering streetscape.
Optionally, described second module is obtained, be specifically used for: the infrared of each position by being mounted on outside vehicle is taken the photograph
The outside vehicle environment is obtained as head carries out captured in real-time to outside vehicle environment corresponding with the current driving location
Multiple fixed elements and mobile element.
Optionally, the display module, is specifically used for: by the comprehensive camera assembly that is arranged in vehicle by the rendering
Streetscape is shown on the photoelectric glass of vehicle.
In order to achieve the above object, the application third aspect embodiment proposes a kind of computer equipment, comprising: processor and deposit
Reservoir；Wherein, the processor is held to run with described by reading the executable program code stored in the memory
The corresponding program of line program code, with the streetscape emulation side for realizing the automatic driving vehicle as described in first aspect embodiment
Method.
In order to achieve the above object, the application fourth aspect embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, realizes that nobody as described in first aspect embodiment drives when which is executed by processor
Sail the streetscape emulation mode of vehicle.
In order to achieve the above object, the 5th aspect embodiment of the application proposes a kind of computer program product, when the calculating
When instruction in machine program product is executed by processor, the streetscape of the automatic driving vehicle as described in first aspect embodiment is realized
Emulation mode.
Technical solution provided by the embodiments of the present application may include it is following the utility model has the advantages that
When detecting current driving scene is night running scene, the current driving location of vehicle is obtained；It obtains and works as
The multiple fixed elements and mobile element of the corresponding outside vehicle environment of preceding traveling-position, and the database that inquiry prestores obtain
Streetscape data corresponding with current driving location；The color of multiple fixed elements and mobile element is determined according to streetscape data；Root
Coloring treatment is carried out to multiple fixed elements and mobile element according to color and generates rendering streetscape, and rendering streetscape is shown in vehicle
Predeterminated position.Solve the problems, such as that the utilization rate of night pilotless automobile in the prior art is relatively low as a result, by night
Between outside vehicle environment is emulated automatically when driving, in visual form by the external world be originally used for the environment of nearly black and white with coloured silk
Color, the street view display on similar daytime promote the utilization rate of pilotless automobile to passenger, promote experiencing by bus for passenger.
The additional aspect of the application and advantage will be set forth in part in the description, and will partially become from the following description
It obtains obviously, or recognized by the practice of the application.
Detailed description of the invention
The application is above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Obviously and it is readily appreciated that, in which:
Fig. 1 is the flow chart according to the streetscape emulation mode of the automatic driving vehicle of the application one embodiment；
Fig. 2 is the flow chart according to the streetscape emulation mode of the automatic driving vehicle of the application another embodiment；
Fig. 3 is that exemplary diagram is arranged according to the camera of the automatic driving vehicle of the application one embodiment；
Fig. 4 is the structural schematic diagram according to the streetscape simulator of the automatic driving vehicle of the application one embodiment；
Fig. 5 is the structural schematic diagram according to the streetscape simulator of the automatic driving vehicle of the application another embodiment；
Fig. 6 is the structural schematic diagram according to the streetscape simulator of the automatic driving vehicle of the application another embodiment.
Specific embodiment
Embodiments herein is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the application, and should not be understood as the limitation to the application.
Below with reference to the accompanying drawings streetscape emulation mode, device and the electronics for describing the automatic driving vehicle of the embodiment of the present application are set
It is standby.
For what is mentioned in background technique, passenger oneself also has the demand of observation outside vehicle environment, In in the prior art
When night rides, dim light allows passenger that can not or be difficult to see outside vehicle environment clearly, and it is unmanned finally to will affect night
The technical issues of utilization rate of automobile, present applicant proposes a kind of methods of the streetscape of automatic driving vehicle emulation, by night
Between outside vehicle environment is emulated automatically when driving, in visual form by the external world be originally used for the environment of nearly black and white with coloured silk
Color, the street view display on similar daytime promote the utilization rate of pilotless automobile to passenger, promote experiencing by bus for passenger.
Specifically, Fig. 1 is the process according to the streetscape emulation mode of the automatic driving vehicle of the application one embodiment
Figure, as shown in Figure 1, this method comprises:
Step 101, when detecting current driving scene is night running scene, the current driving location of vehicle is obtained.
In practical applications, automatic driving vehicle can obtain after receiving steering instructions and drive destination, drive route
Etc. information, passenger is driven to destination, it is to be appreciated that the driving time of automatic driving vehicle be it is very flexible, in order to
Meet passenger's trip requirements, can be daytime, night is all passenger services, the application is directed to night running scene.
As an example, the period can be preset, for example 8:00 is to travel to the period between 19:00 daytime
Scene, 19:00 to the period between 8:00 are night running scene, thus, in automatic driving vehicle starting, obtain current
Time, judge current time within which period so that it is determined that corresponding scene, for example obtaining current time is 20:00, is sentenced
Disconnected current time 20:00 is in 19:00 to the period between 8:00 so that it is determined that current driving scene is night running scene.
As another example, light threshold value and duration value can be preset, for example obtaining current light intensity is that A is small
In preset threshold and duration value such as 5 minutes, it is determined that current driving scene is night running scene；It obtains and works as another example
Preceding light intensity is that B is more than or equal to preset threshold and duration value such as 5 minutes, it is determined that current driving scene is row on daytime
Sail scene.
It should be noted that corresponding driving scene can also be determined according to the scene set instruction that passenger inputs, therefore
Suitable mode can be selected as inspection according to the specific ride characteristic of automatic driving vehicle and the habit etc. of most of passenger
Survey whether current driving scene is night running scene.
Further, when detecting that current driving scene is night running scene, the current driving location of vehicle is obtained,
In, the current driving location of vehicle can be directly acquired by the positioning system of vehicle, can also pass through the terminal device of passenger
Obtain current current driving location and be sent to vehicle in real time etc., selection setting can be carried out according to the actual application.
Step 102, the multiple fixed elements and mobile element of outside vehicle environment corresponding with current driving location are obtained,
And the database that inquiry prestores obtains streetscape data corresponding with current driving location.
Specifically, outside vehicle environment there are many fixed elements such as to build, road, guideboard, trees etc., also have many shiftings
Dynamic element such as vehicle, pedestrian etc., therefore multiple fixations of available outside vehicle environment corresponding with current driving location
Element and mobile element.
It is understood that there are many kinds of the more of the available outside vehicle environment corresponding with current driving location of mode
A fixed element and mobile element, as a kind of possible implementation, by be mounted on outside vehicle each position it is infrared
Camera pair outside vehicle environment corresponding with current driving location carries out captured in real-time and obtains the multiple solid of outside vehicle environment
Determine element and mobile element.
In real life, each building, road etc. can generate corresponding streetscape and store to corresponding preset
In database, for example scene photo and corresponding location information are obtained, scene photo are generated to the threedimensional model of corresponding scene,
Threedimensional model, the streetscape of electronic map is projected according to projected position by the projected position that threedimensional model is obtained according to location information
Corresponding streetscape data are generated on image.
Specifically, in preset database, different positions corresponds to different streetscape data, and storage form, which can be, reflects
The modes such as firing table obtain and current as an example according to the mapping table that current driving location is inquired in the database prestored
The corresponding streetscape data of traveling-position.
Step 103, the color of multiple fixed elements and mobile element is determined according to streetscape data.
Step 104, coloring treatment is carried out to multiple fixed elements and mobile element according to color and generates rendering streetscape, and will
Rendering streetscape is shown in the predeterminated position of vehicle.
Specifically, fixed element is usually constant, for example, Tian An-men color be it is constant, can be directly according to streetscape
Corresponding color determines the color of fixed element in data, it is to be understood that mobile element is variation, in streetscape data
May be it is no, can according to need and carry out simulation colouring, for example have a people before Red Buildings, in order to be distinguished,
Random selection is not that the color that red color is this people of mobile element has several vehicles in front for another example, for obvious area
Not can choose different colors, also for example, front someone also has vehicle, in order to distinguish can be selected according to type it is different
Color.
Further, after determining the color of multiple fixed elements and mobile element, according to color to multiple fixed elements
Coloring treatment is carried out with mobile element and generates rendering streetscape, and rendering streetscape is shown into the predeterminated position in vehicle.
Wherein, predeterminated position can carry out selection setting according to the actual application, as a kind of possible display mode, lead to
The comprehensive camera assembly being arranged in vehicle is crossed to show streetscape is rendered on the photoelectric glass of vehicle.
To sum up, the streetscape emulation mode of the automatic driving vehicle of the embodiment of the present application is detecting that current driving scene is
When night running scene, the current driving location of vehicle is obtained；Obtain outside vehicle environment corresponding with current driving location
Multiple fixed elements and mobile element, and the database that inquiry prestores obtain streetscape data corresponding with current driving location；
The color of multiple fixed elements and mobile element is determined according to streetscape data；According to color to multiple fixed elements and mobile element
It carries out coloring treatment and generates rendering streetscape, and rendering streetscape is shown into the predeterminated position in vehicle.Solves the prior art as a result,
The relatively low problem of the utilization rate of middle night pilotless automobile, by being carried out automatically to outside vehicle environment in night running
The external world is originally used for the environment of nearly black and white in visual form with the street view display on colored, similar daytime to passenger, mentioned by emulation
The utilization rate for rising pilotless automobile promotes experiencing by bus for passenger.
Fig. 2 is according to the flow chart of the streetscape emulation mode of the automatic driving vehicle of the application another embodiment, such as Fig. 2
It is shown, this method comprises:
Step 201, when detecting current driving scene is night running scene, the current driving location of vehicle is obtained.
It should be noted that step 201 is identical as above-mentioned steps 101, and will not be described here in detail, referring specifically to step 101
Description.
Step 202, corresponding with current driving location by being mounted on the infrared camera pair of each position of outside vehicle
Outside vehicle environment carry out captured in real-time obtain outside vehicle environment multiple fixed elements and mobile element.
Specifically, it can according to need and multiple infrared cameras be installed in each position of outside vehicle, such as outside vehicle
1 (totally 4) camera is respectively arranged in portion's right rear view mirror, left-hand mirror, front, rear, can completely cover vehicle external environment, and have
The ability of infrared photography, as shown in figure 3, captured in real-time obtains the multiple fixed elements and mobile element of outside vehicle environment.
Step 203, it inquires the database prestored and obtains streetscape data corresponding with current driving location, according to streetscape data
The color for determining multiple fixed elements and mobile element carries out coloring treatment to multiple fixed elements and mobile element according to color
Generate rendering streetscape.
Specifically, in preset database, different positions corresponds to different streetscape data, and storage form, which can be, reflects
The modes such as firing table obtain and current as an example according to the mapping table that current driving location is inquired in the database prestored
The corresponding streetscape data of traveling-position.
Specifically, fixed element is usually constant, for example, Tian An-men color be it is constant, can be directly according to streetscape
Corresponding color determines the color of fixed element in data, it is to be understood that mobile element is variation, in streetscape data
May be it is no, can according to need and carry out simulation colouring, for example have a people before Red Buildings, in order to be distinguished,
Random selection is not that the color that red color is this people of mobile element has several vehicles in front for another example, for obvious area
Not can choose different colors, also for example, front someone also has vehicle, in order to distinguish can be selected according to type it is different
Color.
Further, after determining the color of multiple fixed elements and mobile element, according to color to multiple fixed elements
Coloring treatment, which is carried out, with mobile element generates rendering streetscape.
Step 204, streetscape will be rendered by the comprehensive camera assembly that is arranged in vehicle and shows photoelectric glass in vehicle
On.
Specifically, vehicle glass can be photoelectric glass, and energization can be in surface projection, in car after being switched to opaque state
Comprehensive camera assembly such as 360 degree of projection groups are arranged in centre top, can be toward projecting on the glass of all directions.
Step 205, the passenger position in vehicle is obtained by the camera in installation vehicle, is multiplied according to passenger position determination
The corresponding range of visibility of visitor, amplifies processing to the rendering streetscape in the corresponding range of visibility of passenger and shows, and to passenger
Rendering streetscape outside corresponding range of visibility carries out virtualization processing and shows.
Specifically, camera in car can be set in the front in vehicle, for detecting the letter such as interior user behavior, position
Breath judge passenger inside the vehicle's quantity by camera in car, for example car only one passenger is in copilot station, according to the passenger side
It sails position and determines the corresponding range of visibility of passenger, the rendering streetscape in the corresponding range of visibility of passenger is amplified and handles and shows
Show, and virtualization processing is carried out to the rendering streetscape outside the corresponding range of visibility of passenger and is shown, increases rendering, projection effect as a result,
The sense of reality of fruit promotes user experience.
It should be noted that interior for another example, only there are two passenger one in copilot station and one in driving back position
When setting, the corresponding range of visibility A of passenger is determined according to copilot station, the rendering streetscape in range of visibility A corresponding to passenger
It amplifies processing and shows, determine the corresponding range of visibility B of passenger, sight model corresponding to passenger according to back location is driven
The rendering streetscape enclosed in B amplifies processing and shows, in order to meet the needs of two passengers simultaneously, is amplifying at display
Reason, it may be considered that conflict display portion carries out preferential display either for the part without the side such as processing to which user
Formula can carry out selection setting as needed.
Step 206, the operational order of the rendering streetscape to display is obtained；Wherein, operational order includes: amplification instruction, contracting
One or more of small instruction and out code operate rendering streetscape according to operational order.
Specifically, user can according to need the rendering streetscape to display and the operation such as amplify, reduces and close, into one
Step promotes user and experiences by bus.
To sum up, the streetscape emulation mode of the automatic driving vehicle of the embodiment of the present application is detecting that current driving scene is
When night running scene, the current driving location of vehicle is obtained；By the infrared photography for being mounted on each position of outside vehicle
Head carries out multiple fixed members that captured in real-time obtains outside vehicle environment to outside vehicle environment corresponding with current driving location
Element and mobile element, and the database that inquiry prestores obtain streetscape data corresponding with current driving location, according to streetscape number
According to the color of determination multiple fixed elements and mobile element, multiple fixed elements and mobile element are carried out at coloring according to color
Reason generates rendering streetscape, and the comprehensive camera assembly by being arranged in vehicle shows the photoelectric glass in vehicle for streetscape is rendered
On, the passenger position in vehicle is obtained by the camera in installation vehicle, the corresponding sight of passenger is determined according to passenger position
Range amplifies processing to the rendering streetscape in the corresponding range of visibility of passenger and shows, and to the corresponding sight model of passenger
It encloses outer rendering streetscape to carry out virtualization processing and show, obtains the operational order of the rendering streetscape to display；Wherein, operational order
Include: one or more of amplification instruction, diminution instruction and out code, rendering streetscape is grasped according to operational order
Make.Solve the problems, such as that the utilization rate of night pilotless automobile in the prior art is relatively low as a result, by night running
Automatically outside vehicle environment is emulated, the external world is originally used for the environment of nearly black and white with colored, similar in visual form
The street view display on daytime promotes the utilization rate of pilotless automobile to passenger, promotes experiencing by bus for passenger.
In order to realize above-described embodiment, the application also proposed a kind of streetscape simulator of automatic driving vehicle.Fig. 4 is
According to the structural schematic diagram of the streetscape simulator of the automatic driving vehicle of the application one embodiment, as shown in figure 4, this nobody
The streetscape simulator for driving vehicle includes: that the first acquisition module 401, second obtains module 402, enquiry module 403, first really
Cover half block 404, generation module 405 and display module 406, wherein
First obtains module 401, for obtaining working as vehicle when detecting current driving scene is night running scene
Preceding traveling-position.
Second obtains module 402, for obtaining the multiple solid of outside vehicle environment corresponding with the current driving location
Determine element and mobile element.
Enquiry module 403 obtains streetscape data corresponding with the current driving location for inquiring the database prestored.
First determining module 404, for determining the multiple fixed element and mobile element according to the streetscape data
Color.
Generation module 405, for carrying out coloring treatment to the multiple fixed element and mobile element according to the color
Generate rendering streetscape.
Display module 406, for the rendering streetscape to be shown the predeterminated position in the vehicle.
In one embodiment of the application, as shown in figure 5, on the basis of as shown in Figure 4, further includes: third obtains
Module 407, the second determining module 408 and processing module 409.
Wherein, third obtains module 407, for obtaining the passenger position in vehicle by the camera in installation vehicle；
Second determining module 408, for determining the corresponding range of visibility of passenger according to passenger position；
Processing module 409, for amplifying processing to the rendering streetscape in the corresponding range of visibility of the passenger
And show, and to the corresponding range of visibility of the passenger outside the rendering streetscape carry out virtualization and processing and show.
In one embodiment of the application, in one embodiment of the application, as shown in fig. 6, as shown in Figure 4
On the basis of, further includes: the 4th obtains module 410 and operation module 411.
Wherein, the 4th module 410 is obtained, for obtaining the operational order to the rendering streetscape of display；Wherein, described
Operational order includes: one or more of amplification instruction, diminution instruction and out code.
Operation module 411, for being operated according to the operational order to the rendering streetscape.
In one embodiment of the application, second obtains module 402, is specifically used for: by being mounted on outside vehicle
The infrared camera pair of each position outside vehicle environment corresponding with the current driving location carries out captured in real-time and obtains institute
State the multiple fixed elements and mobile element of outside vehicle environment.
In one embodiment of the application, display module 406 is specifically used for: comprehensive being taken the photograph by what is be arranged in vehicle
As component shows the rendering streetscape on the photoelectric glass of vehicle.
It should be noted that the explanation of the aforementioned streetscape emulation mode embodiment to automatic driving vehicle is also applied for
The streetscape simulator of the automatic driving vehicle of the embodiment, details are not described herein again.
To sum up, the streetscape simulator of the automatic driving vehicle of the embodiment of the present application is detecting that current driving scene is
When night running scene, the current driving location of vehicle is obtained；Obtain outside vehicle environment corresponding with current driving location
Multiple fixed elements and mobile element, and the database that inquiry prestores obtain streetscape data corresponding with current driving location；
The color of multiple fixed elements and mobile element is determined according to streetscape data；According to color to multiple fixed elements and mobile element
It carries out coloring treatment and generates rendering streetscape, and rendering streetscape is shown into the predeterminated position in vehicle.Solves the prior art as a result,
The relatively low problem of the utilization rate of middle night pilotless automobile, by being carried out automatically to outside vehicle environment in night running
The external world is originally used for the environment of nearly black and white in visual form with the street view display on colored, similar daytime to passenger, mentioned by emulation
The utilization rate for rising pilotless automobile promotes experiencing by bus for passenger.
In order to realize above-described embodiment, the application also proposes a kind of computer equipment, including memory, processor and storage
On a memory and the computer program that can run on a processor, when processor executes computer program, such as aforementioned reality is realized
Apply the streetscape emulation mode of automatic driving vehicle described in example.
In order to realize above-described embodiment, the application also proposes a kind of non-transitorycomputer readable storage medium, deposits thereon
Computer program is contained, realizes that nobody drives as described in preceding method embodiment when the computer program is executed by processor
Sail the streetscape emulation mode of vehicle.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present application, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing custom logic function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium include the following: there is the electricity of one or more wirings
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized: have for data-signal is realized the logic gates of logic function from
Logic circuit is dissipated, the specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
Embodiments herein is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the application
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of application
Type.
Claims (12)
1. a kind of streetscape emulation mode of automatic driving vehicle, which comprises the following steps:
When detecting current driving scene is night running scene, the current driving location of vehicle is obtained；
Obtain the multiple fixed elements and mobile element of outside vehicle environment corresponding with the current driving location, and inquiry
The database prestored obtains streetscape data corresponding with the current driving location；
The color of the multiple fixed element and mobile element is determined according to the streetscape data；
Coloring treatment is carried out to the multiple fixed element and mobile element according to the color and generates rendering streetscape, and will be described
Rendering streetscape is shown in the predeterminated position of the vehicle.
2. the method as described in claim 1, which is characterized in that show the rendering streetscape in the pre- of the vehicle described
If after position, further includes:
The passenger position in vehicle is obtained by the camera in installation vehicle；
The corresponding range of visibility of passenger is determined according to passenger position；
Processing is amplified to the rendering streetscape in the corresponding range of visibility of the passenger and is shown, and to the passenger couple
The rendering streetscape outside the range of visibility answered carries out virtualization processing and shows.
3. the method as described in claim 1, which is characterized in that show the rendering streetscape in the pre- of the vehicle described
If after position, further includes:
Obtain the operational order to the rendering streetscape of display；Wherein, the operational order include: amplification instruction, reduce refer to
One or more of order and out code；
The rendering streetscape is operated according to the operational order.
4. the method as described in claim 1, which is characterized in that described to obtain outside vehicle corresponding with the current driving location
The multiple fixed elements and mobile element of portion's environment, comprising:
Outside infrared camera pair vehicle corresponding with the current driving location by being mounted on each position of outside vehicle
Portion's environment carries out the multiple fixed elements and mobile element that captured in real-time obtains the outside vehicle environment.
5. the method as described in claim 1, which is characterized in that described to show the rendering streetscape in the default of the vehicle
Position, comprising:
The rendering streetscape is shown on the photoelectric glass of vehicle by the comprehensive camera assembly being arranged in vehicle.
6. a kind of streetscape simulator of automatic driving vehicle characterized by comprising
First obtains module, for obtaining the current driving of vehicle when detecting current driving scene is night running scene
Position；
Second obtain module, for obtain outside vehicle environment corresponding with the current driving location multiple fixed elements and
Mobile element；
Enquiry module obtains streetscape data corresponding with the current driving location for inquiring the database prestored；
First determining module, for determining the color of the multiple fixed element and mobile element according to the streetscape data；
Generation module generates rendering for carrying out coloring treatment to the multiple fixed element and mobile element according to the color
Streetscape；
Display module, for the rendering streetscape to be shown the predeterminated position in the vehicle.
7. device as claimed in claim 6, which is characterized in that further include:
Third obtains module, for obtaining the passenger position in vehicle by the camera in installation vehicle；
Second determining module, for determining the corresponding range of visibility of passenger according to passenger position；
Processing module, for amplifying processing to the rendering streetscape in the corresponding range of visibility of the passenger and showing,
And to the corresponding range of visibility of the passenger outside the rendering streetscape carry out virtualization and processing and show.
8. device as claimed in claim 6, which is characterized in that further include:
4th obtains module, for obtaining the operational order to the rendering streetscape of display；Wherein, the operational order packet
It includes: one or more of amplification instruction, diminution instruction and out code；
Operation module, for being operated according to the operational order to the rendering streetscape.
9. device as claimed in claim 6, which is characterized in that described second obtains module, is specifically used for:
Outside infrared camera pair vehicle corresponding with the current driving location by being mounted on each position of outside vehicle
Portion's environment carries out the multiple fixed elements and mobile element that captured in real-time obtains the outside vehicle environment.
10. device as claimed in claim 6, which is characterized in that the display module is specifically used for:
The rendering streetscape is shown on the photoelectric glass of vehicle by the comprehensive camera assembly being arranged in vehicle.
11. a kind of computer equipment, which is characterized in that including memory, processor and be stored on the memory and can be
The computer program run on the processor when the processor executes the computer program, realizes such as claim 1-5
The streetscape emulation mode of any automatic driving vehicle.
12. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the meter
Calculation machine program realizes the streetscape emulation mode of automatic driving vehicle a method as claimed in any one of claims 1 to 5 when being executed by processor.
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| CN201910656443.9A CN110399672B (en) | 2019-07-19 | 2019-07-19 | Street view simulation method and device for unmanned vehicle and electronic equipment |
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| CN201910656443.9A CN110399672B (en) | 2019-07-19 | 2019-07-19 | Street view simulation method and device for unmanned vehicle and electronic equipment |
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