CN110645995A

CN110645995A - Map navigation simulation method and device

Info

Publication number: CN110645995A
Application number: CN201910931481.0A
Authority: CN
Inventors: 杨明生; 李冰; 周志鹏
Original assignee: Beijing Baidu Netcom Science and Technology Co Ltd
Current assignee: Apollo Zhilian Beijing Technology Co Ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-01-03
Anticipated expiration: 2039-09-29
Also published as: CN113203423B; CN110645995B; CN113203423A

Abstract

The application discloses a map navigation simulation method and device, and relates to the technical field of navigation. The specific implementation scheme is as follows: acquiring a simulated navigation data file, wherein the simulated navigation data file comprises: sampling data of at least one sensor; acquiring an initial system time stamp and an initial data time stamp, wherein the initial data time stamp is the minimum data time stamp of each sampling data in the simulated navigation data file; aiming at each sensor in at least one sensor, aiming at the non-first sampling data of the sensor, when the transmission time point of the previous sampling data of the non-first sampling data is reached, the transmission time point of the non-first sampling data is determined according to the data time stamp, the initial system time stamp and the initial data time stamp of the non-first sampling data, and the non-first sampling data is transmitted to a sensor interface of preset map software at the transmission time point, so that map navigation simulation is realized, synchronous transmission of the sampling data is realized, the reliability of the navigation simulation is improved, and the navigation simulation efficiency is improved.

Description

Map navigation simulation method and device

Technical Field

The application relates to the technical field of computers, in particular to the technical field of navigation, and particularly relates to a map navigation simulation method and device.

Background

In the car map navigation simulation, a simulated navigation data file is obtained in advance, and the simulated navigation data file comprises the following steps: sampling data of a Positioning sensor (GPS), an Inertial Measurement Unit (IMU), a vehicle speed sensor, a camera, and the like at each sampling time point includes: timestamp, data type, and data content; and reading data in the data file and providing the data to the vehicle map through an interface to realize navigation simulation.

Conventionally, a timer is provided for reading data, and the timing time of the timer is, for example, 100 ms. And transmitting the data in the simulated navigation data file to the vehicle map through an interface at regular intervals. The sampling time points of the sensors are different, so that when data are transmitted at regular intervals, a certain sensor may need to transmit a plurality of pieces of data, and a certain sensor does not need to transmit data, so that synchronous transmission of the data is difficult to realize, and the reliability of navigation simulation is reduced.

In addition, the navigation position may jump during simulation, and the jump from one position to another position is contrary to the characteristic that the navigation position continuously changes during real navigation, so that the real navigation scene is difficult to restore, and the navigation simulation efficiency is reduced.

Disclosure of Invention

The application provides a map navigation simulation method and device, through the data time stamp, initial system time stamp and the initial data time stamp according to the sampled data, confirms the transfer time point of sampled data, when arriving the transfer time point, sends the sampled data to predetermine map software, realizes the map navigation simulation, improves the reliability of navigation simulation, improves navigation simulation efficiency.

An embodiment of one aspect of the present application provides a map navigation simulation method, including: obtaining a simulated navigation data file, wherein the simulated navigation data file comprises: sampling data of at least one sensor; the sampling data includes: data time stamp, data type and data content;

acquiring an initial system time stamp and an initial data time stamp, wherein the initial system time stamp is a current system time stamp, and the initial data time stamp is a minimum data time stamp in the simulated navigation data file;

for each sensor of the at least one sensor, determining, for non-first sample data of the sensor, a transmission time point of the non-first sample data according to a data time stamp of the non-first sample data, the start system time stamp, and the start data time stamp when a transmission time point of a previous sample data of the non-first sample data is reached;

storing the non-first sampling data carrying the transmission time point into a delay task queue, so that when the transmission time point of the non-first sampling data is reached, the non-first sampling data is transmitted to a sensor interface corresponding to a sensor of preset map software, and map navigation simulation is realized.

In one embodiment of the present application, the method further comprises: aiming at the first sampling data of the sensor, when the data timestamp of the first sampling data is consistent with the initial data timestamp, transmitting the first sampling data to a sensor interface corresponding to the sensor of preset map software to realize map navigation simulation;

when the data time stamp of the first sample data is inconsistent with the initial data time stamp, determining a transmission time point of the first sample data according to the data time stamp of the first sample data, the initial system time stamp and the initial data time stamp;

storing the first sampling data carrying the transmission time point into a delay task queue, and transmitting the first sampling data to a sensor interface corresponding to the sensor of preset map software when the transmission time point of the first sampling data is reached, so as to realize map navigation simulation.

In one embodiment of the present application, the determining, for each sensor of the at least one sensor, a transmission time point of the non-first sample data according to the data time stamp of the non-first sample data, the start system time stamp and the start data time stamp for the non-first sample data of the sensor includes:

for each sensor of the at least one sensor, determining a first difference between a data timestamp of the non-leading sample data and the starting data timestamp for the non-leading sample data for the sensor;

and determining the sum of the starting system time stamp and the first difference as the transmission time point of the non-first sampling data.

In one embodiment of the present application, the method further comprises: when a pause simulation instruction is received, acquiring a system time stamp of a pause point;

determining a pause point data timestamp according to the pause point system timestamp, the starting system timestamp and the starting data timestamp, and emptying the delay task queue;

when a simulation continuing instruction is received, determining the system time stamp of the pause point as the initial system time stamp, and determining the data time stamp of the pause point as the initial data time stamp;

for each sensor of the at least one sensor, determining a first sample data of the sensor's sample data as a first sample data of the sensor; the first sampling data is sampling data, the corresponding data time stamp of which is greater than or equal to the starting data time stamp, and the difference value between the corresponding data time stamp and the starting data time stamp is minimum.

In one embodiment of the present application, the method further comprises: when a fast forward simulation instruction carrying a fast forward time period is received, a fast forward point system timestamp is obtained;

determining a fast forward point data timestamp according to the fast forward point system timestamp, the initial system timestamp and the initial data timestamp, emptying the delay task queue, and transmitting preset pseudo definition data to a sensor interface corresponding to the sensor of preset map software to trigger re-planning of a navigation route; the pseudo definition data is data on a non-navigation route;

determining the fast forward point system timestamp as the starting system timestamp, and determining the sum of the fast forward point data timestamp and the fast forward time period as the starting data timestamp;

In one embodiment of the present application, the method further comprises: when a backspacing simulation instruction carrying a backspacing time period is received, acquiring a backspacing point system timestamp;

determining a backspacing point data timestamp according to the backspacing point system timestamp, the initial system timestamp and the initial data timestamp, emptying the delay task queue, and transmitting preset pseudo definition data to a sensor interface corresponding to the sensor of preset map software to trigger re-planning of a navigation route; the pseudo definition data is data on a non-navigation route;

determining the system time stamp of the backspacing point as the initial system time stamp, and determining the difference value between the data time stamp of the backspacing point and the backspacing time period as the initial data time stamp;

In the map navigation simulation method of the embodiment of the application, the simulated navigation data file is obtained, and the simulated navigation data file includes: sampling data of at least one sensor; the sampling data includes: data time stamp, data type and data content; acquiring an initial system timestamp and an initial data timestamp, wherein the initial system timestamp is a current system timestamp, and the initial data timestamp is a minimum data timestamp in a simulated navigation data file; for each sensor in the at least one sensor, determining a transmission time point of the non-first-piece sampling data according to a data time stamp, a starting system time stamp and a starting data time stamp of the non-first-piece sampling data when the transmission time point of the previous piece of sampling data of the non-first-piece sampling data is reached; and storing the non-first sampling data carrying the transmission time point into a delay task queue, so that when the transmission time point of the non-first sampling data is reached, the non-first sampling data is transmitted to a sensor interface corresponding to the sensor of preset map software, and the map navigation simulation is realized. Therefore, the transmission time point of the sampling data is determined according to the data time stamp, the initial system time stamp, the initial data time stamp and the like of the sampling data, the sampling data is transmitted when the transmission time point is reached, the synchronous transmission of the sampling data is realized, the reliability of navigation simulation is improved, and the navigation simulation efficiency is improved.

Another embodiment of the present application provides a map navigation simulation apparatus, including: an obtaining module, configured to obtain a simulated navigation data file, where the simulated navigation data file includes: sampling data of at least one sensor; the sampling data includes: data time stamp, data type and data content;

the acquisition module is further configured to acquire an initial system timestamp and an initial data timestamp, where the initial system timestamp is a current system timestamp, and the initial data timestamp is a minimum data timestamp in the simulated navigation data file;

a determining module, configured to determine, for each sensor of the at least one sensor, a transmission time point of non-first sample data of the sensor according to a data time stamp of the non-first sample data, the start system time stamp, and the start data time stamp when a transmission time point of a previous sample data of the non-first sample data is reached;

and the storage module is used for storing the non-first sampling data carrying the transmission time point into a delay task queue so as to transmit the non-first sampling data to a sensor interface corresponding to the sensor of preset map software when the transmission time point of the non-first sampling data is reached, thereby realizing map navigation simulation.

In one embodiment of the present application, the apparatus further comprises: a transfer module;

the transmission module is used for transmitting the first sampling data of the sensor to a sensor interface corresponding to the sensor of preset map software when the data timestamp of the first sampling data is consistent with the initial data timestamp, so as to realize map navigation simulation;

the determining module is further configured to determine a transmission time point of the first sample data according to the data timestamp of the first sample data, the starting system timestamp, and the starting data timestamp when the data timestamp of the first sample data is not consistent with the starting data timestamp;

the storage module is further configured to store the first sampling data carrying the transmission time point into a delay task queue, so that when the transmission time point of the first sampling data is reached, the first sampling data is transmitted to a sensor interface, corresponding to the sensor, of preset map software, and map navigation simulation is achieved.

In one embodiment of the present application, the determining module is specifically configured to,

In an embodiment of the application, the obtaining module is further configured to obtain a system timestamp of a pause point when the pause simulation instruction is received;

the determining module is further configured to determine a pause point data timestamp according to the pause point system timestamp, the starting system timestamp, and the starting data timestamp, and empty the delay task queue;

the determining module is further configured to determine the system timestamp of the pause point as the initial system timestamp and determine the data timestamp of the pause point as the initial data timestamp when the continue simulation instruction is received;

the determining module is further configured to determine, for each sensor of the at least one sensor, a first sample data of the sensor as a first sample data of the sensor; the first sampling data is sampling data, the corresponding data time stamp of which is greater than or equal to the starting data time stamp, and the difference value between the corresponding data time stamp and the starting data time stamp is minimum.

In an embodiment of the present application, the obtaining module is further configured to obtain a system timestamp of a fast forward point when a fast forward simulation instruction carrying a fast forward time period is received;

the determining module is further configured to determine a fast forward point data timestamp according to the fast forward point system timestamp, the initial system timestamp, and the initial data timestamp, empty the delay task queue, and transmit preset pseudo definition data to a sensor interface of preset map software corresponding to the sensor to trigger re-planning of a navigation route; the pseudo definition data is data on a non-navigation route;

the determining module is further configured to determine the fast forwarding point system timestamp as the starting system timestamp, and determine the sum of the fast forwarding point data timestamp and the fast forwarding time period as the starting data timestamp;

In an embodiment of the present application, the obtaining module is further configured to obtain a system timestamp of a fallback point when a fallback simulation instruction carrying a fallback time period is received;

the determining module is further configured to determine a back-off point data timestamp according to the back-off point system timestamp, the starting system timestamp and the starting data timestamp, empty the delay task queue, and transmit preset pseudo definition data to a sensor interface of preset map software corresponding to the sensor to trigger re-planning of a navigation route; the pseudo definition data is data on a non-navigation route;

the determining module is further configured to determine the system timestamp of the fallback point as the initial system timestamp, and determine a difference between the data timestamp of the fallback point and the fallback time period as the initial data timestamp;

The map navigation simulation device of the embodiment of the application, by acquiring the simulated navigation data file, the simulated navigation data file comprises: sampling data of at least one sensor; the sampling data includes: data time stamp, data type and data content; acquiring an initial system timestamp and an initial data timestamp, wherein the initial system timestamp is a current system timestamp, and the initial data timestamp is a minimum data timestamp in a simulated navigation data file; for each sensor in the at least one sensor, determining a transmission time point of the non-first-piece sampling data according to a data time stamp, a starting system time stamp and a starting data time stamp of the non-first-piece sampling data when the transmission time point of the previous piece of sampling data of the non-first-piece sampling data is reached; and storing the non-first sampling data carrying the transmission time point into a delay task queue, so that when the transmission time point of the non-first sampling data is reached, the non-first sampling data is transmitted to a sensor interface corresponding to the sensor of preset map software, and the map navigation simulation is realized. Therefore, the transmission time point of the sampling data is determined according to the data time stamp, the initial system time stamp, the initial data time stamp and the like of the sampling data, the sampling data is transmitted when the transmission time point is reached, the synchronous transmission of the sampling data is realized, the reliability of navigation simulation is improved, and the navigation simulation efficiency is improved.

An embodiment of another aspect of the present application provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the map navigation simulation method of the embodiments of the present application.

Another embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions for causing a computer to execute a map navigation simulation method according to an embodiment of the present application.

Other effects of the above-described alternative will be described below with reference to specific embodiments.

Drawings

The drawings are included to provide a better understanding of the present solution and are not intended to limit the present application. Wherein:

FIG. 1 is a schematic diagram according to a first embodiment of the present application;

FIG. 2 is a schematic diagram according to a second embodiment of the present application;

FIG. 3 is a schematic illustration according to a third embodiment of the present application;

FIG. 4 is a schematic illustration according to a fourth embodiment of the present application;

FIG. 5 is a schematic illustration according to a fifth embodiment of the present application;

FIG. 6 is a schematic illustration according to a sixth embodiment of the present application;

FIG. 7 is a block diagram of an electronic device for implementing a map navigation simulation method of an embodiment of the present application;

Detailed Description

The following description of the exemplary embodiments of the present application, taken in conjunction with the accompanying drawings, includes various details of the embodiments of the application for the understanding of the same, which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The map navigation simulation method and apparatus according to the embodiments of the present application are described below with reference to the drawings.

Fig. 1 is a schematic diagram according to a first embodiment of the present application. It should be noted that an execution subject of the map navigation simulation method provided in this embodiment is a map navigation simulation apparatus, which may be implemented in a software and/or hardware manner, and the apparatus may be configured in a terminal device or a server, which is not limited in this embodiment.

As shown in fig. 1, the map navigation simulation method may include:

step 101, obtaining a simulated navigation data file, wherein the simulated navigation data file comprises: sampling data of at least one sensor; the sampling data includes: data time stamp, data type, and data content.

In the present application, the simulated navigation data file may be preset, or may be an actual navigation data file of a certain vehicle in an actual navigation scene. The sensors may be, for example, a positioning sensor GPS, an inertial measurement unit sensor IMU, a vehicle speed sensor, a camera, etc. The data timestamp is the point in time at which the sampled data was collected. The type of data is, for example, vehicle speed, location, etc. Data content such as vehicle speed value, position value, etc.

Step 102, an initial system time stamp and an initial data time stamp are obtained, wherein the initial system time stamp is a current system time stamp, and the initial data time stamp is a minimum data time stamp in the simulated navigation data file.

In the present application, the current system timestamp may be, for example, a time point of acquiring the simulated navigation data file. The sampling data corresponding to each sensor in the simulated navigation data file can be stored separately or in a mixed manner, each sampling data comprises a data time stamp, and the initial data time stamp is the minimum data time stamp in the simulated navigation data file.

And 103, aiming at each sensor in at least one sensor, aiming at the non-first sampling data of the sensor, when the transmission time point of the previous sampling data of the non-first sampling data is reached, determining the transmission time point of the non-first sampling data according to the data time stamp, the initial system time stamp and the initial data time stamp of the non-first sampling data.

And 104, storing the non-first sampling data carrying the transmission time point into a delay task queue, so that when the transmission time point of the non-first sampling data is reached, the non-first sampling data is transmitted to a sensor interface corresponding to a sensor of preset map software, and map navigation simulation is realized.

In the application, in the analog navigation data file, each sensor corresponds to a series of sampling data, and data timestamps in the series of sampling data are sorted from small to large. Each sensor has a corresponding sampling period. Taking the vehicle speed sensor as an example, assuming that the sampling period of the vehicle speed sensor is 0.1s, for example, a piece of sampling data is acquired at 0.1s, a piece of sampling data is acquired at 0.2s, a piece of sampling data is acquired at 0.3s, and so on, to obtain a series of sampling data corresponding to the vehicle speed sensor. The sampling data acquired in 0.1s is first sampling data, and the sampling data acquired at the subsequent time point is non-first sampling data.

Aiming at the first sampling data of the sensor, when the data time stamp of the first sampling data is consistent with the initial data time stamp, determining that the first sampling data has no transmission delay and can be directly transmitted, and directly transmitting the first sampling data to a sensor interface corresponding to the sensor of preset map software to realize map navigation simulation. The preset map software can be provided with a plurality of sensor interfaces, the distribution of the sensor interfaces corresponds to different sensors, namely, each sensor corresponds to one sensor interface.

And when the data time stamp of the first sample data is inconsistent with the initial data time stamp, determining that the first sample data is not directly transmitted and has transmission delay, and determining the transmission time point of the first sample data according to the time stamp of the first sample data, the initial system time stamp and the initial data time stamp. For example, the transmission time point of the first sample data is the data time stamp of the first sample data-start data time stamp + start system time stamp. After the transmission time point of the first sampling data is determined, the first sampling data carrying the transmission time point is stored in a delay task queue, so that when the transmission time point of the first sampling data is reached, the first sampling data is transmitted to a sensor interface corresponding to a sensor of preset map software, and map navigation is realized.

Aiming at non-first-strip sampling data of a sensor, when the transmission time point of the previous sampling data of the non-first-strip sampling data is reached, determining the transmission time point of the non-first-strip sampling data according to the time stamp of the non-first-strip sampling data, the initial system time stamp and the initial data time stamp; and storing the non-first sampling data carrying the transmission time point into a delay task queue, so that when the transmission time point of the non-first sampling data is reached, the non-first sampling data is transmitted to a sensor interface corresponding to a sensor of preset map software, and the map navigation simulation is realized. For example, taking the non-first sample data after the first sample data, that is, the second sample data as an example, when the transmission time point of the first sample data is reached, the transmission time point of the second sample data is determined according to the timestamp of the second sample data, the start system timestamp and the start data timestamp, and the second sample data carrying the transmission time point is stored in the delay task queue.

The determining process of the transmission time point of the non-first sampling data may specifically be that, for each sensor of the at least one sensor, a first difference between a data time stamp of the non-first sampling data and a starting data time stamp of the non-first sampling data is determined for the non-first sampling data of the sensor; and determining the sum of the starting system time stamp and the first difference as the transmission time point of the non-first sampling data.

Fig. 2 is a schematic diagram according to a second embodiment of the present application. As shown in fig. 2, based on the embodiment shown in fig. 1, the map navigation simulation method may further include:

and 105, acquiring a system time stamp of a pause point when the pause simulation instruction is received.

In this application, the system time stamp at the pause point refers to the system time stamp when the pause simulation instruction is received.

And step 106, determining the data time stamp of the pause point according to the system time stamp of the pause point, the initial system time stamp and the initial data time stamp, and emptying the delay task queue.

In this application, the pause point data timestamp is the pause point system timestamp-start system timestamp + start data timestamp. When a pause simulation instruction is received, if sample data still exist in the delay task queue, due to the pause, the transmission time point of the sample data is already inaccurate, so that the delay task queue needs to be emptied, and then when a continue simulation instruction is received, the transmission time point of the sample data is determined again.

And step 107, when the simulation continuing instruction is received, determining the system time stamp of the pause point as the initial system time stamp, and determining the data time stamp of the pause point as the initial data time stamp.

In this application, when receiving and continuing the simulation instruction, confirm the some system time stamp of pause as the initial system time stamp, confirm the some data time stamp of pause as the initial data time stamp to can follow the some data time stamp of pause in the simulation navigation data file and begin to continue carrying out data transfer, in order to continue to simulate the navigation.

Step 108, determining a first sampling data in the sampling data of the sensor as a first sampling data of the sensor for each sensor in at least one sensor; the first sampling data is sampling data, the corresponding data time stamp of which is greater than or equal to the starting data time stamp, and the difference between the corresponding data time stamp and the starting data time stamp is minimum.

According to the map navigation simulation method, when a pause simulation instruction is received, a system timestamp of a pause point is obtained; determining a pause point data timestamp according to the pause point system timestamp, the starting system timestamp and the starting data timestamp, and emptying a delay task queue; when a continuous simulation instruction is received, determining a system time stamp of a pause point as an initial system time stamp, and determining a data time stamp of the pause point as an initial data time stamp; for each sensor of the at least one sensor, determining a first sample data of the sensor as a first sample data of the sensor; the first sampling data is sampling data, the corresponding data time stamp is greater than or equal to the initial data time stamp, and the difference value between the corresponding data time stamp and the initial data time stamp is minimum, so that when the simulation is paused and continued, data transmission can be continued from the pause point data time stamp in the simulated navigation data file to continue the simulated navigation.

Fig. 3 is a schematic diagram according to a third embodiment of the present application. As shown in fig. 3, based on the embodiment shown in fig. 1, the map navigation simulation method may further include:

and step 109, acquiring a fast forward point system time stamp when receiving the fast forward simulation instruction carrying the fast forward time period.

In this application, the fast forward point system timestamp refers to a system timestamp when the fast forward simulation instruction is received. The fast forward period refers to a period length skipped during fast forward.

Step 110, determining a fast forward point data timestamp according to the fast forward point system timestamp, an initial system timestamp and an initial data timestamp, emptying a delay task queue, and transmitting preset pseudo definition data to a sensor interface corresponding to a sensor of preset map software to trigger re-planning of a navigation route; the pseudo definition data is data on a non-navigation route.

In the present application, the near point data timestamp is the near point system timestamp-start system timestamp + start data timestamp. When a fast forward simulation instruction is received, if sample data still exists in the delay task queue, the transmission time point of the sample data is already inaccurate due to fast forward, and therefore the delay task queue needs to be emptied. In addition, due to fast forward, the navigation position jumps, and in order to restore the real navigation scene, preset pseudo definition data can be transmitted to a sensor interface corresponding to a sensor in the preset map software, so that the preset map software triggers to re-plan the navigation route, and the jump of the navigation position is avoided. The pseudo definition data is data on a non-navigation route, such as the positions of buildings around the road.

And step 111, determining the system time stamp of the fast forwarding point as the initial system time stamp, and determining the sum of the fast forwarding point data time stamp and the fast forwarding time period as the initial data time stamp.

Step 112, determining a first sampling data in the sampling data of the sensor as a first sampling data of the sensor for each sensor in at least one sensor; the first sampling data is sampling data, the corresponding data time stamp of which is greater than or equal to the starting data time stamp, and the difference between the corresponding data time stamp and the starting data time stamp is minimum.

In the application, the map navigation simulation device can acquire a series of sampling data corresponding to the sensor, and selects the first sampling data from the series of sampling data as the first sampling data after fast forward.

According to the map navigation simulation method, when a fast forward simulation instruction carrying a fast forward time period is received, a fast forward point system timestamp is obtained; determining a fast forward point data timestamp according to the fast forward point system timestamp, the initial system timestamp and the initial data timestamp, emptying a delay task queue, and transmitting preset pseudo definition data to a sensor interface corresponding to a sensor of preset map software to trigger re-planning of a navigation route; determining a system time stamp of a fast forwarding point as an initial system time stamp, and determining the sum of the fast forwarding point data time stamp and a fast forwarding time period as an initial data time stamp; for each sensor of the at least one sensor, determining a first sample data of the sensor as a first sample data of the sensor; the first sampling data is the sampling data with the corresponding data time stamp being greater than or equal to the initial data time stamp and the difference value between the corresponding data time stamp and the initial data time stamp being the minimum, so that when the simulation is fast forwarded, the data transmission can be continued from the position of the fast-forward time period + the fast-forward point data time stamp in the simulation navigation data file, so as to continue the simulation navigation.

Fig. 4 is a schematic diagram according to a fourth embodiment of the present application. As shown in fig. 4, on the basis of the embodiment shown in fig. 1, the map navigation simulation method may further include:

and step 113, acquiring a system time stamp of a rollback point when receiving a rollback simulation instruction carrying a rollback time period.

In the present application, the rollback point system timestamp refers to a system timestamp when a rollback simulation instruction is received. The backoff period refers to a period length skipped during backoff. One of the situations of the rollback simulation instruction may be that the rollback is performed to the position of the start data timestamp, which is equivalent to performing the map navigation simulation in a loop.

Step 114, determining a backspacing point data timestamp according to the backspacing point system timestamp, the initial system timestamp and the initial data timestamp, emptying a delay task queue, and transmitting preset pseudo definition data to a sensor interface corresponding to a sensor of preset map software to trigger re-planning of a navigation route; the pseudo definition data is data on a non-navigation route.

In the present application, the rollback point data timestamp is ═ rollback point system timestamp-start system timestamp + start data timestamp. When a rollback simulation instruction is received, if there is still sample data in the delay task queue, the transmission time point of the sample data is already inaccurate due to rollback, and therefore, the delay task queue needs to be emptied. In addition, due to the backspacing, the navigation position jumps, and in order to restore the real navigation scene, preset pseudo definition data can be transmitted to a sensor interface corresponding to a sensor in the preset map software, so that the preset map software triggers to re-plan the navigation route, and the jump of the navigation position is avoided. The pseudo definition data is data on a non-navigation route, such as the positions of buildings around the road.

Step 115, determining the system time stamp of the back-off point as the initial system time stamp, and determining the difference value between the data time stamp of the back-off point and the back-off time period as the initial data time stamp.

Step 116, determining a first sampling data in the sampling data of the sensor as a first sampling data of the sensor for each sensor in at least one sensor; the first sampling data is sampling data, the corresponding data time stamp of which is greater than or equal to the starting data time stamp, and the difference between the corresponding data time stamp and the starting data time stamp is minimum.

According to the map navigation simulation method, when a backspacing simulation instruction carrying a backspacing time period is received, a backspacing point system timestamp is obtained; determining a backspacing point data timestamp according to the backspacing point system timestamp, the initial system timestamp and the initial data timestamp, emptying a delay task queue, and transmitting preset pseudo definition data to a sensor interface corresponding to a sensor of preset map software to trigger re-planning of a navigation route; determining a system time stamp of a backspacing point as an initial system time stamp, and determining a difference value between the backspacing point data time stamp and a backspacing time period as an initial data time stamp; for each sensor of the at least one sensor, determining a first sample data of the sensor as a first sample data of the sensor; the first sampling data is sampling data, the corresponding data time stamp is greater than or equal to the initial data time stamp, and the difference value between the corresponding data time stamp and the initial data time stamp is minimum, so that when backing-off simulation is performed, data transmission can be continued from the position of the backing-off data time stamp-backing time period in the simulated navigation data file, and simulated navigation can be continued.

In order to implement the above embodiments, an embodiment of the present application further provides a map navigation simulation apparatus.

Fig. 5 is a schematic diagram according to a fifth embodiment of the present application. As shown in fig. 5, the map navigation simulation apparatus 100 includes:

an obtaining module 110, configured to obtain a simulated navigation data file, where the simulated navigation data file includes: sampling data of at least one sensor; the sampling data includes: data time stamp, data type and data content;

the obtaining module 110 is further configured to obtain a starting system timestamp and a starting data timestamp, where the starting system timestamp is a current system timestamp, and the starting data timestamp is a minimum data timestamp in the simulated navigation data file;

a determining module 120, configured to determine, for each sensor of the at least one sensor, a transmission time point of non-first sample data of the sensor according to a data time stamp of the non-first sample data, the starting system time stamp and the starting data time stamp when a transmission time point of a previous sample data of the non-first sample data is reached;

the storage module 130 is configured to store the non-first sampling data carrying the transmission time point into a delay task queue, so that when the transmission time point of the non-first sampling data is reached, the non-first sampling data is transmitted to a sensor interface, corresponding to the sensor, of preset map software, and map navigation simulation is implemented.

Fig. 6 is a schematic diagram according to a sixth embodiment of the present application. As shown in fig. 6, on the basis of the embodiment shown in fig. 5, the apparatus further includes: a transfer module 140;

the transmission module 140 is configured to transmit, for a first piece of sampling data of the sensor, the first piece of sampling data to a sensor interface of preset map software corresponding to the sensor when a data timestamp of the first piece of sampling data is consistent with the start data timestamp, so as to implement map navigation simulation;

the determining module 120 is further configured to determine, when the data timestamp of the first sample data is not consistent with the start data timestamp, a transmission time point of the first sample data according to the data timestamp of the first sample data, the start system timestamp, and the start data timestamp;

the storage module 130 is further configured to store the first sampling data carrying the transmission time point into a delay task queue, so that when the transmission time point of the first sampling data is reached, the first sampling data is transmitted to a sensor interface, corresponding to the sensor, of preset map software, and map navigation simulation is achieved.

In one embodiment of the present application, the determining module 120 is specifically configured to,

In an embodiment of the present application, the obtaining module 110 is further configured to obtain a system timestamp of a pause point when a pause simulation instruction is received;

the determining module 120 is further configured to determine a pause point data timestamp according to the pause point system timestamp, the starting system timestamp, and the starting data timestamp, and empty the delay task queue;

the determining module 120 is further configured to determine, when a continue simulation instruction is received, the system timestamp of the pause point as the start system timestamp, and determine the data timestamp of the pause point as the start data timestamp;

the determining module 120 is further configured to determine, for each sensor of the at least one sensor, a first sampling data of the sensor as a first sampling data of the sensor; the first sampling data is sampling data, the corresponding data time stamp of which is greater than or equal to the starting data time stamp, and the difference value between the corresponding data time stamp and the starting data time stamp is minimum.

In an embodiment of the present application, the obtaining module 110 is further configured to obtain a system time stamp of a fast forward point when a fast forward simulation instruction carrying a fast forward time period is received;

the determining module 120 is further configured to determine a fast forward point data timestamp according to the fast forward point system timestamp, the initial system timestamp, and the initial data timestamp, empty the delay task queue, and transmit preset pseudo definition data to a sensor interface of preset map software corresponding to the sensor to trigger re-planning of a navigation route; the pseudo definition data is data on a non-navigation route;

the determining module 120 is further configured to determine the fast forwarding point system timestamp as the starting system timestamp, and determine a sum of the fast forwarding point data timestamp and the fast forwarding time period as the starting data timestamp;

In an embodiment of the present application, the obtaining module 110 is further configured to obtain a system timestamp of a fallback point when a fallback simulation instruction carrying a fallback time period is received;

the determining module 120 is further configured to determine a back-off point data timestamp according to the back-off point system timestamp, the start system timestamp, and the start data timestamp, empty the delay task queue, and transmit preset pseudo definition data to a sensor interface of preset map software corresponding to the sensor to trigger re-planning of a navigation route; the pseudo definition data is data on a non-navigation route;

the determining module 120 is further configured to determine the system timestamp of the fallback point as the starting system timestamp, and determine a difference between the data timestamp of the fallback point and the fallback time period as the starting data timestamp;

It should be noted that the explanation of the map navigation simulation method is also applicable to the map navigation simulation apparatus of the present embodiment, and is not repeated herein.

According to an embodiment of the present application, an electronic device and a readable storage medium are also provided.

Fig. 7 is a block diagram of an electronic device according to an embodiment of the present application. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations of the present application that are described and/or claimed herein.

As shown in fig. 7, the electronic apparatus includes: one or more processors 701, a memory 702, and interfaces for connecting the various components, including a high-speed interface and a low-speed interface. The various components are interconnected using different buses and may be mounted on a common motherboard or in other manners as desired. The processor may process instructions for execution within the electronic device, including instructions stored in or on the memory to display graphical information of a GUI on an external input/output apparatus (such as a display device coupled to the interface). In other embodiments, multiple processors and/or multiple buses may be used, along with multiple memories and multiple memories, as desired. Also, multiple electronic devices may be connected, with each device providing portions of the necessary operations (e.g., as a server array, a group of blade servers, or a multi-processor system). In fig. 7, one processor 701 is taken as an example.

The memory 702 is a non-transitory computer readable storage medium as provided herein. Wherein the memory stores instructions executable by at least one processor to cause the at least one processor to perform the map navigation simulation method provided herein. The non-transitory computer-readable storage medium of the present application stores computer instructions for causing a computer to perform the map navigation simulation method provided by the present application.

The memory 702, which is a non-transitory computer readable storage medium, may be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as program instructions/modules (e.g., the acquisition module 110, the determination module 120, the storage module 130, and the transmission module 140 shown in fig. 5 and 6) corresponding to the map navigation simulation method in the embodiments of the present application. The processor 701 executes various functional applications of the server and data processing by running non-transitory software programs, instructions, and modules stored in the memory 702, that is, implements the map navigation simulation method in the above-described method embodiments.

The memory 702 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from use of the electronic device simulated for map navigation, and the like. Further, the memory 702 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory 702 may optionally include memory located remotely from the processor 701, which may be connected to the map navigation simulation electronics over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The electronic device of the method of map navigation simulation may further include: an input device 703 and an output device 704. The processor 701, the memory 702, the input device 703 and the output device 704 may be connected by a bus or other means, and fig. 7 illustrates an example of a connection by a bus.

The input device 703 may receive input numeric or character information and generate key signal inputs related to user settings and function control of the electronic apparatus simulated for map navigation, such as an input device such as a touch screen, a keypad, a mouse, a track pad, a touch pad, a pointer stick, one or more mouse buttons, a track ball, a joystick, or the like. The output devices 704 may include a display device, auxiliary lighting devices (e.g., LEDs), and tactile feedback devices (e.g., vibrating motors), among others. The display device may include, but is not limited to, a Liquid Crystal Display (LCD), a Light Emitting Diode (LED) display, and a plasma display. In some implementations, the display device can be a touch screen.

Various implementations of the systems and techniques described here can be realized in digital electronic circuitry, integrated circuitry, application specific ASICs (application specific integrated circuits), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

These computer programs (also known as programs, software applications, or code) include machine instructions for a programmable processor, and may be implemented using high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the computer. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), and the Internet.

The computer system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present application may be executed in parallel, sequentially, or in different orders, and the present invention is not limited thereto as long as the desired results of the technical solutions disclosed in the present application can be achieved.

The above-described embodiments should not be construed as limiting the scope of the present application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A map navigation simulation method, comprising:

obtaining a simulated navigation data file, wherein the simulated navigation data file comprises: sampling data of at least one sensor; the sampling data includes: data time stamp, data type and data content;

2. The method of claim 1, further comprising:

aiming at the first sampling data of the sensor, when the data timestamp of the first sampling data is consistent with the initial data timestamp, transmitting the first sampling data to a sensor interface corresponding to the sensor of preset map software to realize map navigation simulation;

3. The method of claim 1, wherein the determining, for each sensor of the at least one sensor, a transmission time point of the non-leading sample data for the sensor from a data timestamp of the non-leading sample data, the starting system timestamp, and the starting data timestamp comprises:

4. The method of claim 1, further comprising:

when a pause simulation instruction is received, acquiring a system time stamp of a pause point;

5. The method of claim 1, further comprising:

when a fast forward simulation instruction carrying a fast forward time period is received, a fast forward point system timestamp is obtained;

6. The method of claim 1, further comprising:

when a backspacing simulation instruction carrying a backspacing time period is received, acquiring a backspacing point system timestamp;

7. A map navigation simulation apparatus, comprising:

an obtaining module, configured to obtain a simulated navigation data file, where the simulated navigation data file includes: sampling data of at least one sensor; the sampling data includes: data time stamp, data type and data content;

8. The apparatus of claim 7, further comprising: a transfer module;

9. The apparatus of claim 7, wherein the means for determining is configured to,

10. The apparatus of claim 7, wherein the obtaining module is further configured to obtain a pause point system timestamp when a pause simulation instruction is received;

11. The apparatus according to claim 7, wherein the obtaining module is further configured to obtain a fast forward point system timestamp when receiving a fast forward simulation instruction carrying a fast forward time period;

12. The apparatus according to claim 7, wherein the obtaining module is further configured to obtain a system timestamp of a fallback point when a fallback simulation instruction carrying a fallback time period is received;

13. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6.

14. A non-transitory computer readable storage medium having stored thereon computer instructions for causing the computer to perform the method of any one of claims 1-6.

15. A map navigation simulation method, comprising:

and aiming at each sensor in the at least one sensor, aiming at each piece of sampling data of the sensor, determining a transmission time point of the sampling data according to a data time stamp, the initial system time stamp and the initial data time stamp of the sampling data, so that when the transmission time point is reached, the sampling data is transmitted to a sensor interface corresponding to the sensor of preset map software, and map navigation simulation is realized.