CN111614700B - Real-scene interactive driving simulation method and device and driving simulation system platform - Google Patents
Real-scene interactive driving simulation method and device and driving simulation system platform Download PDFInfo
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- CN111614700B CN111614700B CN202010508612.7A CN202010508612A CN111614700B CN 111614700 B CN111614700 B CN 111614700B CN 202010508612 A CN202010508612 A CN 202010508612A CN 111614700 B CN111614700 B CN 111614700B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
- G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
- G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
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- H04L43/0823—Errors, e.g. transmission errors
- H04L43/0829—Packet loss
Abstract
The invention relates to the technical field of data processing, in particular to a live-action interactive driving simulation method and device and a driving simulation system platform. According to the method, the feedback information can be generated according to the operation instruction stream, the message characteristics are determined according to the feedback information, and then the message characteristics are sent to the driving simulation equipment. Therefore, feedback information does not need to be directly sent to the simulated driving equipment, and incompatibility caused by direct transmission of the feedback information can be avoided. Only the message characteristics are sent to the simulated driving equipment, so that the real-time performance of interaction between the simulation system platform and the simulated driving equipment can be improved on the premise of ensuring that the simulated driving equipment generates accurate feedback information according to the message characteristics.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a live-action interactive driving simulation method and device and a driving simulation system platform.
Background
With the development of science and technology, the driving training mode is changed from traditional on-site teaching into remote simulation teaching. Compared with the traditional on-site teaching, the remote simulation teaching can better simulate human-vehicle interaction, so that data basis of driving training is provided for the later automatic driving and the semi-automatic driving.
Most of the existing driving simulation training technologies are carried out on the basis of a simulation system platform and driving simulation equipment, and in detail, driving training is realized through information and data interaction between the simulation system platform and the driving simulation equipment. However, the prior art is difficult to realize the real-time performance of interaction between a simulation system platform and a simulation driving device.
Disclosure of Invention
The embodiment of the specification provides a live-action interactive simulation driving method and device and a simulation driving system platform, and aims to solve or partially solve the technical problem that the real-time interaction between the simulation system platform and a simulation driving device is difficult to realize in the prior art.
In order to solve the above technical problem, a first aspect of the embodiments of the present specification discloses a real-scene interaction simulation driving method, which is applied to a simulation driving system platform in a real-scene interaction simulation driving system, and the method at least includes:
acquiring a simulated driving operation instruction stream;
generating feedback information according to the operation instruction stream;
and determining the message characteristics of the feedback information, and sending the message characteristics.
In an alternative embodiment, a data pre-transmission space is provided in the driving simulation system platform, the real-scene interaction driving simulation system further includes a driving simulation device, and the determining a message characteristic of the feedback information and transmitting the message characteristic include:
importing the target message corresponding to the feedback information into the data pre-sending space; the target message is a message header of the feedback information;
determining a target packet loss rate of the feedback information according to the simulated driving operation instruction stream and the category characteristics of the feedback information;
comparing the target packet loss rate with a reference packet loss rate, wherein the reference packet loss rate is the packet loss rate between the message nodes in the feedback information;
if the target packet loss rate is not smaller than the first comparison result of the reference packet loss rate, determining the current transmission loss of the feedback information according to the packet header packet loss rate of the feedback information; if a second comparison result that the target packet loss rate is smaller than the reference packet loss rate is obtained, obtaining a difference value between the target packet loss rate and the reference packet loss rate, and determining the current transmission loss of the feedback information according to the packet header packet loss rate superposed with the difference value;
and extracting the characteristics of the target message in the data pre-sending space according to the current transmission loss to obtain message characteristics, and sending the message characteristics to the driving simulation equipment so that the driving simulation equipment generates the feedback information according to the message characteristics and outputs the feedback information.
In an alternative embodiment, the generating feedback information according to the operation instruction stream includes:
splitting the response environment parameter corresponding to the operation instruction stream into a plurality of parameter feature vectors in a feature matching mode, and adding a unique vector identifier to each split parameter feature vector;
acquiring the split parameter characteristic vector, associating the split parameter characteristic vector in the characteristic matching mode, matching to obtain driving environment information characteristics corresponding to the vector identification according to the vector identification, and determining the environment weight corresponding to the split parameter characteristic vector;
determining environmental information when the simulated driving equipment generates the operation instruction stream according to a preset association rule and the environmental weight;
according to a preset information conversion rule and the environment information, finding out the real scene information corresponding to the environment information;
and generating the feedback information according to the live-action information and the operation instruction stream.
In an alternative embodiment, the extracting the feature of the target packet in the data pre-transmission space according to the current transmission loss to obtain the packet feature includes:
acquiring a flag bit of each message segment in the target message;
determining a loss coefficient of current transmission loss corresponding to each message segment according to the zone bit of the message segment, wherein the loss coefficient comprises one of a transmission loss coefficient, an interruption loss coefficient and a delay loss coefficient;
when the loss coefficient of the current transmission loss is a transmission loss coefficient or a delay loss coefficient, correcting the current transmission loss to obtain a first loss influence factor, and when the loss coefficient of the current transmission loss is an interruption loss coefficient, performing coefficient weighting according to the current transmission loss and a correlation coefficient between corresponding segments of the current transmission loss to obtain a second loss influence factor;
fusing each first loss influence factor and each second loss influence factor to obtain a fusion factor;
and carrying out noise screening on the target message according to the fusion factor to obtain the message characteristics.
The embodiment of the present specification discloses, in a first aspect, a real-scene interactive simulation driving device, which is applied to a simulation driving system platform in a real-scene interactive simulation driving system, and the device at least includes:
the acquisition module is used for acquiring a simulated driving operation instruction stream;
the generating module is used for generating feedback information according to the operation instruction stream;
and the sending module is used for determining the message characteristics of the feedback information and sending the message characteristics.
In an alternative embodiment, a data pre-sending space is disposed in the driving simulation system platform, the real-scene interaction driving simulation system further includes a driving simulation device, and the sending module is configured to:
importing the target message corresponding to the feedback information into the data pre-sending space; the target message is a message header of the feedback information;
determining a target packet loss rate of the feedback information according to the simulated driving operation instruction stream and the category characteristics of the feedback information;
comparing the target packet loss rate with a reference packet loss rate, wherein the reference packet loss rate is the packet loss rate between the message nodes in the feedback information;
if the target packet loss rate is not smaller than the first comparison result of the reference packet loss rate, determining the current transmission loss of the feedback information according to the packet header packet loss rate of the feedback information; if a second comparison result that the target packet loss rate is smaller than the reference packet loss rate is obtained, obtaining a difference value between the target packet loss rate and the reference packet loss rate, and determining the current transmission loss of the feedback information according to the packet header packet loss rate superposed with the difference value;
and extracting the characteristics of the target message in the data pre-sending space according to the current transmission loss to obtain message characteristics, and sending the message characteristics to the driving simulation equipment so that the driving simulation equipment generates the feedback information according to the message characteristics and outputs the feedback information.
In an alternative embodiment, the generating module is configured to:
splitting the response environment parameter corresponding to the operation instruction stream into a plurality of parameter feature vectors in a feature matching mode, and adding a unique vector identifier to each split parameter feature vector;
acquiring the split parameter characteristic vector, associating the split parameter characteristic vector in the characteristic matching mode, matching to obtain driving environment information characteristics corresponding to the vector identification according to the vector identification, and determining the environment weight corresponding to the split parameter characteristic vector;
determining environmental information when the simulated driving equipment generates the operation instruction stream according to a preset association rule and the environmental weight;
according to a preset information conversion rule and the environment information, finding out the real scene information corresponding to the environment information;
and generating the feedback information according to the live-action information and the operation instruction stream.
In an alternative embodiment, the sending module is configured to:
acquiring a flag bit of each message segment in the target message;
determining a loss coefficient of current transmission loss corresponding to each message segment according to the zone bit of the message segment, wherein the loss coefficient comprises one of a transmission loss coefficient, an interruption loss coefficient and a delay loss coefficient;
when the loss coefficient of the current transmission loss is a transmission loss coefficient or a delay loss coefficient, correcting the current transmission loss to obtain a first loss influence factor, and when the loss coefficient of the current transmission loss is an interruption loss coefficient, performing coefficient weighting according to the current transmission loss and a correlation coefficient between corresponding segments of the current transmission loss to obtain a second loss influence factor;
fusing each first loss influence factor and each second loss influence factor to obtain a fusion factor;
and carrying out noise screening on the target message according to the fusion factor to obtain the message characteristics.
A third aspect of the embodiments of the present specification discloses a computer-readable storage medium on which a computer program is stored, which when executed by a processor implements the steps of the above-mentioned method.
In a fourth aspect of the embodiments of the present specification, a driving simulation system platform is disclosed, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the steps of the method are implemented.
Through one or more technical schemes of this description, this description has following beneficial effect or advantage:
by the technical scheme, the feedback information can be generated according to the operation instruction stream, the message characteristics can be determined according to the feedback information, and then the message characteristics are sent to the driving simulation equipment. Therefore, feedback information does not need to be directly sent to the simulated driving equipment, and incompatibility caused by direct transmission of the feedback information can be avoided. Only the message characteristics are sent to the simulated driving equipment, so that the real-time performance of interaction between the simulation system platform and the simulated driving equipment can be improved on the premise of ensuring that the simulated driving equipment generates accurate feedback information according to the message characteristics.
The above description is only an outline of the technical solution of the present specification, and the embodiments of the present specification are described below in order to make the technical means of the present specification more clearly understood, and the present specification and other objects, features, and advantages of the present specification can be more clearly understood.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flowchart of a live-action interactive simulation driving method according to an embodiment of the present specification.
Fig. 2 is a schematic diagram illustrating functional modules of a live-action interactive simulation driving device according to an embodiment of the present disclosure.
Fig. 3 shows a schematic diagram of a simulated driving system platform according to an embodiment of the present disclosure.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
The inventor finds that the existing driving simulation training technology is mostly carried out based on a simulation system platform and driving simulation equipment through investigation and research, and particularly, the driving training is realized through information and data interaction between the simulation system platform and the driving simulation equipment. However, the prior art is difficult to realize the real-time performance of interaction between a simulation system platform and a simulation driving device.
The above prior art solutions have shortcomings which are the results of practical and careful study of the inventor, and therefore, the discovery process of the above problems and the solutions proposed by the following embodiments of the present invention to the above problems should be the contribution of the inventor to the present invention in the course of the present invention.
In view of this, embodiments of the present disclosure provide a real-scene interactive driving simulation method, device and driving simulation system platform, so as to solve or partially solve the technical problem that it is difficult to implement real-time interaction between the driving simulation system platform and the driving simulation device in the prior art.
Referring to fig. 1, a flow chart of a real-world interactive driving simulation method according to an embodiment of the present disclosure is shown, where the real-world interactive driving simulation method includes the following steps:
in step S21, a simulated driving operation instruction stream is acquired.
And step S22, generating feedback information according to the operation instruction stream.
And step S23, determining the message characteristics of the feedback information, and sending the message characteristics.
It can be understood that through the steps S21-S23, feedback information can be generated according to the operation instruction stream, message characteristics can be determined according to the feedback information, and then the message characteristics are sent to the driving simulation equipment. Therefore, feedback information does not need to be directly sent to the simulated driving equipment, and incompatibility caused by direct transmission of the feedback information can be avoided. Only the message characteristics are sent to the simulated driving equipment, so that the real-time performance of interaction between the simulation system platform and the simulated driving equipment can be improved on the premise of ensuring that the simulated driving equipment generates accurate feedback information according to the message characteristics.
Optionally, a data pre-sending space is arranged in the driving simulation system platform, and the real-scene interactive driving simulation system further comprises a driving simulation device.
In specific implementation, the inventor finds that, in order to accurately determine the message characteristics of the feedback information, the packet loss rate of the feedback information during transmission needs to be taken into consideration, so as to extract effective characteristics in the feedback information and filter noise. Therefore, in step S23, the determining the message characteristics of the feedback information and sending the message characteristics may specifically include the following:
step S231, importing the target packet corresponding to the feedback information into the data pre-transmission space; the target message is a message header of the feedback information.
Step S232, determining a target packet loss rate of the feedback information according to the simulated driving operation instruction stream and the category characteristics of the feedback information.
Step S233, comparing the target packet loss rate with a reference packet loss rate, where the reference packet loss rate is a packet loss rate between packet nodes in the feedback information.
Step S234, if a first comparison result that the target packet loss rate is not less than the reference packet loss rate is obtained, determining the current transmission loss of the feedback information according to the packet header packet loss rate of the feedback information; if a second comparison result that the target packet loss rate is smaller than the reference packet loss rate is obtained, obtaining a difference value between the target packet loss rate and the reference packet loss rate, and determining the current transmission loss of the feedback information according to the packet header packet loss rate superposed with the difference value.
Step S235, performing feature extraction on the target message in the data pre-transmission space according to the current transmission loss to obtain a message feature, and transmitting the message feature to the driving simulation device so that the driving simulation device generates the feedback information according to the message feature and outputs the feedback information.
It can be understood that, through the above steps, the message extraction can be performed on the feedback information, so that the target packet loss rate is determined based on the simulated driving operation instruction stream and the category characteristics of the feedback information, the current transmission loss of the feedback information is determined according to the comparison result of the target packet loss rate and the reference packet loss rate, so that the message characteristics of the feedback information are determined based on the current transmission loss, and it can be understood that the sending state adjustment of the target message can be realized by introducing the target message into the data pre-sending space, so that the message structure of the target message in the sending state is accurately determined, the accuracy of performing the feature extraction and the noise screening on the target message according to the current transmission loss is ensured, and the extracted message characteristics are made to conform to the transmission setting of the target message and the feedback information.
Therefore, based on the steps S231 to S235, the packet loss rate of the feedback information during transmission can be taken into consideration, so that the extraction of effective features and the filtering of noise in the feedback information are realized, and the message features of the feedback information are accurately determined.
In a specific implementation, the driving environment information of the simulated driving device when generating the operation instruction stream is different, and the driving environment information is obtained by converting the simulated driving system platform according to the real-scene information and is sent to the simulated driving device, so that when generating the feedback information according to the operation instruction stream, the real-time driving environment information of the simulated driving device when generating the operation instruction stream needs to be obtained, so as to ensure the accuracy of the generated feedback information, and for this reason, in step S22, the generating the feedback information according to the operation instruction stream may specifically include the following contents:
step S221, splitting the response environment parameter corresponding to the operation instruction stream into a plurality of parameter feature vectors in a feature matching manner, and adding a unique vector identifier to each of the split parameter feature vectors.
Step S222, obtaining the split parameter feature vector, associating the split parameter feature vector in the feature matching manner, and matching to obtain driving environment information features corresponding to the vector identifier according to the vector identifier, so as to determine an environment weight corresponding to the split parameter feature vector.
Step S223, determining environment information when the simulated driving device generates the operation instruction stream according to a preset association rule and the environment weight.
Step S224, finding out the real-scene information corresponding to the environmental information according to a preset information conversion rule and the environmental information.
Step S225, generating the feedback information according to the live-action information and the operation instruction stream.
It can be understood that, through steps S221 to S225, feature analysis and splitting can be performed on the response environment parameters corresponding to the operation instruction stream to obtain parameter feature vectors, and then the driving environment information features are matched based on the parameter feature vectors, and then the environment weight is determined, so that the environment information can be determined based on the environment weight and the preset association rule, and thus the live-action information is further determined. In the embodiment, the live-action information is stored in the simulated driving system platform, so that when the feedback information is generated according to the operation instruction stream, the real-time driving environment information of the simulated driving device when the operation instruction stream is generated can be acquired, and the accuracy of the generated feedback information can be ensured.
In specific implementation, in order to ensure the confidence of the extracted packet features, it is necessary to avoid that the current transmission loss excessively affects the weight corresponding to each feature in the target packet, for this reason, in step S235, the feature extraction is performed on the target packet in the data pre-transmission space according to the current transmission loss to obtain the packet features, which may specifically include the following contents:
step S2351, obtaining the zone bit of each segment in the target message.
Step S2352, determining a loss coefficient of the current transmission loss corresponding to each of the segments according to the flag bit of the segment, wherein the loss coefficient includes one of a transmission loss coefficient, an interruption loss coefficient, and a delay loss coefficient.
Step S2353, when the loss coefficient of the current transmission loss is the transmission loss coefficient or the delay loss coefficient, modifying the current transmission loss to obtain a first loss influence factor, and when the loss coefficient of the current transmission loss is the interruption loss coefficient, performing coefficient weighting according to the correlation coefficient between the current transmission loss and the corresponding message segment to obtain a second loss influence factor.
Step S2354, fusing each of the first loss influence factors and each of the second loss influence factors to obtain a fusion factor.
Step S2355, according to the fusion factor, the noise of the target message is screened out, and the message characteristics are obtained.
It can be understood that according to steps S2351-S2355, the loss coefficient of the current transmission loss can be determined according to the flag bit of each segment in the target packet, so as to classify the loss coefficient of the current transmission loss, thereby avoiding directly influencing the weight corresponding to each feature in the target packet according to the current transmission loss. Furthermore, the first loss influence factor and the second loss influence factor are determined according to different loss coefficients and are fused, so that the excessive influence of the current transmission loss on the weight corresponding to each feature in the target message can be effectively avoided, and the confidence coefficient of the extracted message feature is further ensured.
In specific implementation, the simulated driving system platform may receive simulated driving operation instruction streams sent by a plurality of simulated driving devices in the same time period, and since the simulated driving operation instruction streams are sent in the form of information streams, even if each section of the simulated driving operation instruction streams carries an identifier, the simulated driving system platform may delay the reception of some instruction streams when receiving each section of the simulated driving operation instruction streams due to insufficient receiving bandwidth, which may cause the received instruction streams to be misaligned, and it is difficult to ensure the accuracy of the received simulated driving operation instruction streams. Therefore, the accuracy of the received simulated driving operation instruction stream is ensured, and in step S21, the obtaining of the simulated driving operation instruction stream may specifically include the following:
and step S211, acquiring the data transmission protocol of the driving simulation equipment, and analyzing the data transmission protocol of the driving simulation equipment to acquire a plurality of protocol addresses.
And step S212, carrying out parallel packaging on the data transmission protocol of the driving simulation equipment for multiple times to obtain a plurality of packaging packets.
Step S213, for each protocol address in the plurality of protocol addresses, performing the following processing procedures, and obtaining a plurality of protocol addresses that are not to be sifted: selecting an encapsulation packet of an encapsulation type for the protocol address from the plurality of encapsulation packets, judging whether the protocol address contains a target address or not by using an encapsulation structure corresponding to the encapsulation packet of the encapsulation type, if not, screening out the protocol address, and if so, reserving the protocol address.
Step S214, respectively performing address logic extraction on the plurality of protocol addresses to obtain a plurality of address logics.
Step S215, classifying the plurality of address logics, and determining that the instruction stream of the driving simulation device generates a logic topology.
Step S216, acquiring an operation instruction stream carrying the instruction stream generation logic topology as the simulated driving operation instruction stream.
It can be understood that, through steps S211 to S216, it is possible to determine the instruction stream generation logic topology of the driving simulation device from the protocol address layer, and compared with adding the identifier in the instruction stream of the driving simulation operation, the instruction stream generation logic topology is embedded in each section of the instruction stream of the driving simulation operation, so that even if the driving simulation system platform delays receiving some instruction streams due to insufficient receiving bandwidth, the driving simulation system platform can splice the delayed received instruction streams of the driving simulation operation through the instruction stream generation logic topology, thereby obtaining an accurate instruction stream of the driving simulation operation.
Based on the same inventive concept as the foregoing embodiment, the present specification further provides a real-scene interactive simulation driving device 200, please refer to fig. 2, where the real-scene interactive simulation driving device 200 includes:
an obtaining module 201, configured to obtain a simulated driving operation instruction stream;
a generating module 202, configured to generate feedback information according to the operation instruction stream;
the sending module 203 is configured to determine a message characteristic of the feedback information, and send the message characteristic.
In an optional embodiment, a data pre-sending space is disposed in the driving simulation system platform, the real-scene interaction driving simulation system further includes a driving simulation device, and the sending module 203 is configured to:
importing the target message corresponding to the feedback information into the data pre-sending space; the target message is a message header of the feedback information;
determining a target packet loss rate of the feedback information according to the simulated driving operation instruction stream and the category characteristics of the feedback information;
comparing the target packet loss rate with a reference packet loss rate, wherein the reference packet loss rate is the packet loss rate between the message nodes in the feedback information;
if the target packet loss rate is not smaller than the first comparison result of the reference packet loss rate, determining the current transmission loss of the feedback information according to the packet header packet loss rate of the feedback information; if a second comparison result that the target packet loss rate is smaller than the reference packet loss rate is obtained, obtaining a difference value between the target packet loss rate and the reference packet loss rate, and determining the current transmission loss of the feedback information according to the packet header packet loss rate superposed with the difference value;
and extracting the characteristics of the target message in the data pre-sending space according to the current transmission loss to obtain message characteristics, and sending the message characteristics to the driving simulation equipment so that the driving simulation equipment generates the feedback information according to the message characteristics and outputs the feedback information.
In an alternative embodiment, the generating module 202 is configured to:
splitting the response environment parameter corresponding to the operation instruction stream into a plurality of parameter feature vectors in a feature matching mode, and adding a unique vector identifier to each split parameter feature vector;
acquiring the split parameter characteristic vector, associating the split parameter characteristic vector in the characteristic matching mode, matching to obtain driving environment information characteristics corresponding to the vector identification according to the vector identification, and determining the environment weight corresponding to the split parameter characteristic vector;
determining environmental information when the simulated driving equipment generates the operation instruction stream according to a preset association rule and the environmental weight;
according to a preset information conversion rule and the environment information, finding out the real scene information corresponding to the environment information;
and generating the feedback information according to the live-action information and the operation instruction stream.
In an optional embodiment, the sending module 203 is configured to:
acquiring a flag bit of each message segment in the target message;
determining a loss coefficient of current transmission loss corresponding to each message segment according to the zone bit of the message segment, wherein the loss coefficient comprises one of a transmission loss coefficient, an interruption loss coefficient and a delay loss coefficient;
when the loss coefficient of the current transmission loss is a transmission loss coefficient or a delay loss coefficient, correcting the current transmission loss to obtain a first loss influence factor, and when the loss coefficient of the current transmission loss is an interruption loss coefficient, performing coefficient weighting according to the current transmission loss and a correlation coefficient between corresponding segments of the current transmission loss to obtain a second loss influence factor;
fusing each first loss influence factor and each second loss influence factor to obtain a fusion factor;
and carrying out noise screening on the target message according to the fusion factor to obtain the message characteristics.
Based on the same inventive concept as the previous embodiment, the embodiment of the present specification further provides a driving simulation system platform 3, as shown in fig. 3, including a memory 304, a processor 302, and a computer program stored on the memory 304 and executable on the processor 302, wherein the processor 302 implements the steps of any one of the methods described above when executing the program.
Where in fig. 3 a bus architecture (represented by bus 300), bus 300 may include any number of interconnected buses and bridges, bus 300 linking together various circuits including one or more processors, represented by processor 302, and memory, represented by memory 304. The bus 300 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 305 provides an interface between the bus 300 and the receiver 301 and transmitter 303. The receiver 301 and the transmitter 303 may be one and the same element, i.e. a transceiver, providing a unit for communicating with various other terminal devices over a transmission medium. The processor 302 is responsible for managing the bus 300 and general processing, and the memory 304 may be used for storing data used by the processor 302 in performing operations.
Through one or more embodiments of the present description, the present description has the following advantages or advantages:
the method can generate feedback information according to the operation instruction stream, determine message characteristics according to the feedback information, and then send the message characteristics to the driving simulation equipment. Therefore, feedback information does not need to be directly sent to the simulated driving equipment, and incompatibility caused by direct transmission of the feedback information can be avoided. Only the message characteristics are sent to the simulated driving equipment, so that the real-time performance of interaction between the simulation system platform and the simulated driving equipment can be improved on the premise of ensuring that the simulated driving equipment generates accurate feedback information according to the message characteristics.
Further, the feedback information can be extracted, so that a target packet loss rate is determined based on the simulated driving operation instruction stream and the category characteristics of the feedback information, the current transmission loss of the feedback information is determined according to the comparison result of the target packet loss rate and the reference packet loss rate, the message characteristics of the feedback information are determined based on the current transmission loss, and it can be understood that the sending state of the target message can be adjusted by introducing the target message into the data pre-sending space, so that the message structure of the target message in the sending state is accurately determined, the accuracy of feature extraction and noise screening of the target message according to the current transmission loss is ensured, and the extracted message characteristics are in accordance with the target message and the transmission setting of the feedback information. Therefore, the packet loss rate of the feedback information during transmission can be taken into consideration, so that the extraction of effective features in the feedback information and the filtering of noise are realized, and the message features of the feedback information are accurately determined.
Furthermore, the response environment parameters corresponding to the operation instruction stream can be subjected to feature analysis and splitting to obtain parameter feature vectors, driving environment information features are matched based on the parameter feature vectors, and then the environment weight is determined. In the embodiment, the live-action information is stored in the simulated driving system platform, so that when the feedback information is generated according to the operation instruction stream, the real-time driving environment information of the simulated driving device when the operation instruction stream is generated can be acquired, and the accuracy of the generated feedback information can be ensured.
Furthermore, the loss coefficient of the current transmission loss can be determined according to the flag bit of each message segment in the target message, and then the loss coefficients of the current transmission loss are classified, so that the influence on the weight corresponding to each feature in the target message directly according to the current transmission loss is avoided. Furthermore, the first loss influence factor and the second loss influence factor are determined according to different loss coefficients and are fused, so that the excessive influence of the current transmission loss on the weight corresponding to each feature in the target message can be effectively avoided, and the confidence coefficient of the extracted message feature is further ensured.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, this description is not intended for any particular programming language. It will be appreciated that a variety of programming languages may be used to implement the teachings of the present specification and that specific languages are described above to disclose the best modes of the specification.
In the description provided herein, numerous specific details are set forth. However, it is understood that embodiments of the present description may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the specification, various features of the specification are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the present specification as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this specification.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the description and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of this description may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components of a gateway, proxy server, system in accordance with embodiments of the present description. The present description may also be embodied as an apparatus or device program (e.g., computer program and computer program product) for performing a portion or all of the methods described herein. Such programs implementing the description may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the specification, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The description may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (6)
1. A real-scene interaction simulation driving method is characterized in that the method is applied to a simulation driving system platform in a real-scene interaction simulation driving system, and the method at least comprises the following steps:
acquiring a simulated driving operation instruction stream;
generating feedback information according to the operation instruction stream;
determining the message characteristics of the feedback information, and sending the message characteristics;
wherein, the generating feedback information according to the operation instruction stream includes:
splitting the response environment parameter corresponding to the operation instruction stream into a plurality of parameter feature vectors in a feature matching mode, and adding a unique vector identifier to each split parameter feature vector;
acquiring the split parameter characteristic vector, associating the split parameter characteristic vector in the characteristic matching mode, matching to obtain driving environment information characteristics corresponding to the vector identification according to the vector identification, and determining the environment weight corresponding to the split parameter characteristic vector;
determining environmental information when the simulated driving equipment generates the operation instruction stream according to a preset association rule and the environmental weight;
according to a preset information conversion rule and the environment information, finding out the real scene information corresponding to the environment information;
generating the feedback information according to the live-action information and the operation instruction stream;
the driving simulation system comprises a real-scene interaction driving simulation system, a data pre-sending space and a driving simulation device, wherein the driving simulation system platform is provided with the data pre-sending space, the real-scene interaction driving simulation system also comprises the driving simulation device, the message characteristics of the feedback information are determined, and the message characteristics are sent, and the method comprises the following steps:
importing the target message corresponding to the feedback information into the data pre-sending space; the target message is a message header of the feedback information;
determining a target packet loss rate of the feedback information according to the simulated driving operation instruction stream and the category characteristics of the feedback information;
comparing the target packet loss rate with a reference packet loss rate, wherein the reference packet loss rate is the packet loss rate between the message nodes in the feedback information;
if the target packet loss rate is not smaller than the first comparison result of the reference packet loss rate, determining the current transmission loss of the feedback information according to the packet header packet loss rate of the feedback information; if a second comparison result that the target packet loss rate is smaller than the reference packet loss rate is obtained, obtaining a difference value between the target packet loss rate and the reference packet loss rate, and determining the current transmission loss of the feedback information according to the packet header packet loss rate superposed with the difference value;
and extracting the characteristics of the target message in the data pre-sending space according to the current transmission loss to obtain message characteristics, and sending the message characteristics to the driving simulation equipment so that the driving simulation equipment generates the feedback information according to the message characteristics and outputs the feedback information.
2. The method according to claim 1, wherein the extracting the feature of the target packet in the data pre-transmission space according to the current transmission loss to obtain the packet feature comprises:
acquiring a flag bit of each message segment in the target message;
determining a loss coefficient of current transmission loss corresponding to each message segment according to the zone bit of the message segment, wherein the loss coefficient comprises one of a transmission loss coefficient, an interruption loss coefficient and a delay loss coefficient;
when the loss coefficient of the current transmission loss is a transmission loss coefficient or a delay loss coefficient, correcting the current transmission loss to obtain a first loss influence factor, and when the loss coefficient of the current transmission loss is an interruption loss coefficient, performing coefficient weighting according to the current transmission loss and a correlation coefficient between corresponding segments of the current transmission loss to obtain a second loss influence factor;
fusing each first loss influence factor and each second loss influence factor to obtain a fusion factor;
and carrying out noise screening on the target message according to the fusion factor to obtain the message characteristics.
3. A real-scene interaction simulation driving device is characterized in that the device is applied to a simulation driving system platform in a real-scene interaction simulation driving system, and the device at least comprises:
the acquisition module is used for acquiring a simulated driving operation instruction stream;
the generating module is used for generating feedback information according to the operation instruction stream;
the sending module is used for determining the message characteristics of the feedback information and sending the message characteristics;
the driving simulation system comprises a driving simulation system platform, a data pre-sending space is arranged in the driving simulation system platform, a driving simulation device is further arranged in the real-scene interaction driving simulation system, and the sending module is used for:
importing the target message corresponding to the feedback information into the data pre-sending space; the target message is a message header of the feedback information;
determining a target packet loss rate of the feedback information according to the simulated driving operation instruction stream and the category characteristics of the feedback information;
comparing the target packet loss rate with a reference packet loss rate, wherein the reference packet loss rate is the packet loss rate between the message nodes in the feedback information;
if the target packet loss rate is not smaller than the first comparison result of the reference packet loss rate, determining the current transmission loss of the feedback information according to the packet header packet loss rate of the feedback information; if a second comparison result that the target packet loss rate is smaller than the reference packet loss rate is obtained, obtaining a difference value between the target packet loss rate and the reference packet loss rate, and determining the current transmission loss of the feedback information according to the packet header packet loss rate superposed with the difference value;
extracting the characteristics of the target message in the data pre-sending space according to the current transmission loss to obtain message characteristics, and sending the message characteristics to the driving simulation equipment so that the driving simulation equipment generates the feedback information according to the message characteristics and outputs the feedback information;
wherein the generation module is configured to:
splitting the response environment parameter corresponding to the operation instruction stream into a plurality of parameter feature vectors in a feature matching mode, and adding a unique vector identifier to each split parameter feature vector;
acquiring the split parameter characteristic vector, associating the split parameter characteristic vector in the characteristic matching mode, matching to obtain driving environment information characteristics corresponding to the vector identification according to the vector identification, and determining the environment weight corresponding to the split parameter characteristic vector;
determining environmental information when the simulated driving equipment generates the operation instruction stream according to a preset association rule and the environmental weight;
according to a preset information conversion rule and the environment information, finding out the real scene information corresponding to the environment information;
and generating the feedback information according to the live-action information and the operation instruction stream.
4. The apparatus of claim 3, wherein the sending module is configured to:
acquiring a flag bit of each message segment in the target message;
determining a loss coefficient of current transmission loss corresponding to each message segment according to the zone bit of the message segment, wherein the loss coefficient comprises one of a transmission loss coefficient, an interruption loss coefficient and a delay loss coefficient;
when the loss coefficient of the current transmission loss is a transmission loss coefficient or a delay loss coefficient, correcting the current transmission loss to obtain a first loss influence factor, and when the loss coefficient of the current transmission loss is an interruption loss coefficient, performing coefficient weighting according to the current transmission loss and a correlation coefficient between corresponding segments of the current transmission loss to obtain a second loss influence factor;
fusing each first loss influence factor and each second loss influence factor to obtain a fusion factor;
and carrying out noise screening on the target message according to the fusion factor to obtain the message characteristics.
5. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 1-2.
6. A simulated driving system platform comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1-2 when the program is executed.
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| US8758016B1 (en) * | 2010-02-19 | 2014-06-24 | Ulf Henriksson | Vehicle driver and combat situation simulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102113888A (en) * | 2010-01-04 | 2011-07-06 | 中国科学院心理研究所 | Psychological load measuring system based on simulated driving |
| US8758016B1 (en) * | 2010-02-19 | 2014-06-24 | Ulf Henriksson | Vehicle driver and combat situation simulator |
| CN108538141A (en) * | 2018-04-26 | 2018-09-14 | 成都博士信智能科技发展有限公司 | Traffic equipment movement technique and sand table driving analog system |
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