CN113574530A

CN113574530A - Driving scene information processing method and device, electronic equipment and readable storage medium

Info

Publication number: CN113574530A
Application number: CN202080003160.5A
Authority: CN
Inventors: 不公告发明人
Original assignee: DeepRoute AI Ltd
Current assignee: DeepRoute AI Ltd
Priority date: 2020-02-12
Filing date: 2020-02-12
Publication date: 2021-10-29
Also published as: WO2021159357A1

Abstract

A driving scene information processing method includes: acquiring driving scene configuration information, wherein the driving scene configuration information comprises a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier and a behavior parameter value corresponding to the virtual object type (step 202); determining a corresponding virtual object behavior operation according to the virtual object behavior identification (step 204); the virtual object behavior operation is performed based on the virtual object type and the behavior parameter value (step 206).

Description

Driving scene information processing method and device, electronic equipment and readable storage medium

Technical Field

The present application relates to the field of vehicle technologies, and in particular, to a method and an apparatus for processing driving scene information, an electronic device, and a readable storage medium.

Background

At present, the simulation of an intelligent object in a virtual scene is mainly designed according to the virtual scene specified in the existing laws and regulations. According to the traditional driving scene information processing method, a file is designed independently according to the requirement of each virtual driving scene to realize the requirement of the scene. The traditional driving scene information processing method has the problem of poor program expansibility.

Disclosure of Invention

According to various embodiments of the application, a driving scene information processing method and device, an electronic device and a readable storage medium are provided.

A driving scene information processing method includes: acquiring running scene configuration information, wherein the running scene configuration information comprises a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier and a behavior parameter value corresponding to the virtual object type; determining corresponding virtual object behavior operation according to the virtual object behavior identification; and executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value.

A driving scenario information processing apparatus, the apparatus comprising: the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring driving scene configuration information, and the driving scene configuration information comprises a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier and a behavior parameter value corresponding to the virtual object type; the determining module is used for determining corresponding virtual object behavior operation according to the virtual object behavior identification; and the execution module is used for executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value.

An electronic device comprising a memory and a processor, the memory having stored therein a computer program that, when executed by the processor, causes the processor to: acquiring running scene configuration information, wherein the running scene configuration information comprises a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier and a behavior parameter value corresponding to the virtual object type; determining corresponding virtual object behavior operation according to the virtual object behavior identification; and executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value.

A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, performs the operations of: acquiring running scene configuration information, wherein the running scene configuration information comprises a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier and a behavior parameter value corresponding to the virtual object type; determining corresponding virtual object behavior operation according to the virtual object behavior identification; and executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value.

According to the embodiment of the application, the behavior scene configuration information is obtained, wherein the behavior scene configuration information comprises the virtual object behavior identifier and the behavior parameter value corresponding to the virtual object type, the virtual object behavior operation needing to be executed can be determined according to the virtual object identifier, the virtual object behavior operation is executed according to the virtual object type and the corresponding behavior parameter value, namely the virtual object behavior operation needing to be executed and what the parameter value corresponding to the virtual object behavior operation are described in the behavior scene configuration information, the configurability of the scene and the behavior can be achieved, different virtual object behavior operations can be executed only by modifying the virtual object behavior identifier and the behavior parameter value, the use is more convenient, and the expandability of the program is high.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic diagram of an internal structure of an electronic device in one embodiment.

Fig. 2 is a flowchart of a driving scenario information processing method in one embodiment.

Fig. 3 is a flowchart illustrating a driving scenario information processing method according to another embodiment.

FIG. 4 is a flow diagram that illustrates the operations of determining behavior of virtual objects, according to one embodiment.

FIG. 5 is a diagram illustrating relationships of basic behavior markers in one embodiment.

FIG. 6 is a flow diagram that illustrates the operations of determining behavior of virtual objects, in one embodiment.

Fig. 7 is a block diagram showing the configuration of a driving scenario information processing apparatus according to an embodiment.

Detailed Description

In one embodiment, as shown in FIG. 1, a schematic diagram of an internal structure of an electronic device is provided. The electronic device in fig. 1 may specifically be a personal computer, a notebook computer, a smart phone, a tablet computer, a portable wearable device, and the like. The electronic device includes a processor, a memory, and a display screen connected by a system bus. Wherein, the processor is used for providing calculation and control capability and supporting the operation of the whole electronic equipment. The memory is used for storing data, programs, and/or instruction codes, and the like, and the memory stores at least one computer program which can be executed by the processor to implement the memory processing method suitable for the electronic device provided in the embodiment of the present application. The Memory may include a non-volatile storage medium such as a magnetic disk, an optical disk, a Read-Only Memory (ROM), or a Random-Access-Memory (RAM). For example, in one embodiment, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a database, and a computer program. The database stores data related to a driving scenario information processing method provided in the above embodiments, for example, a virtual object behavior operation may be stored. The computer program can be executed by a processor to implement a driving scenario information processing method provided by various embodiments of the present application. The internal memory provides a cached operating environment for the operating system, databases, and computer programs in the non-volatile storage medium. The display screen may be a touch screen, such as a capacitive screen or an electronic screen, and is used to display a driving scene, and may also be used to detect a touch operation applied to the display screen and generate a corresponding instruction, such as a switching instruction for performing foreground and background applications. The display screen can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the electronic equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the structure shown in fig. 1 is only a block diagram of a part of the structure related to the present application, and does not constitute a limitation to the electronic device to which the present application is applied. For example, the electronic device may be a server, and the server may be implemented as a stand-alone server or a server cluster composed of a plurality of servers. A particular electronic device may include more or fewer components than shown, or some components may be combined, or have a different arrangement of components. For example, the electronic device further includes a network interface connected via the system bus, where the network interface may be an ethernet card or a wireless network card, and the like, and is used for communicating with an external electronic device, such as a server. For another example, no display is present on the electronic device connected via the system bus, or an external display device may be connected.

In one embodiment, as shown in fig. 2, a driving scene information processing method is provided, and the present embodiment is described by taking an example in which the method is applied to the electronic device shown in fig. 1. The driving scene information processing method comprises the following steps:

step 202, obtaining driving scene configuration information, where the driving scene configuration information includes a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and a behavior parameter value corresponding to the virtual object type.

The driving scene is a virtual driving scene of a virtual vehicle. Different virtual object types may be included in the driving scenario. The virtual object type comprises a road type, a vehicle type and a traffic light type, and further comprises at least one of a pedestrian type, a zebra crossing type, a tree type, a building type and the like. The virtual object (smart agent) may be a road, a vehicle or a traffic light, and may also be at least one of a pedestrian, a zebra crossing, a tree or a building, etc. The number of virtual objects is not limited. For example, 2 pedestrians, 3 pedestrians, etc. may be present simultaneously in a driving scene. For example, the driving scene may be a speed limit sign recognition and response scene, a parking yield sign line recognition and response scene, a lane line recognition and response scene, or a pedestrian crossing line recognition and response scene, etc., but is not limited thereto. The driving scenario may be a virtual scenario specified in existing laws and regulations.

The virtual object behavior identifier refers to an identifier for uniquely identifying a virtual object behavior. The virtual object behavior identifier may be composed of at least one of numbers, letters, words and symbols. For example, the virtual object behavior identifier may be a uniform straight-driving identifier, or the identifier is 1, etc., but is not limited thereto. The virtual object behavior identifier can be divided into a basic behavior identifier and an abnormal behavior identifier. The virtual object behavior identification is used for determining a virtual object behavior operation. The behavior parameter values refer to parameter values of behavior parameters implemented by the virtual object. The behavior parameter value refers to a value corresponding to a variable. For example, when the virtual object type is a vehicle type, the behavior parameter value may be a parameter value related to lane change, such as how far away from the target vehicle the lane change is possible, whether multiple lanes need to be continuously changed, a time value required to stay on each lane when lane change is continuously performed, and the like. Alternatively, the safe distance from the preceding vehicle when the following vehicle is traveling, the maximum acceleration when a rear-end collision may occur, and the like are not limited to these. When the virtual object type is a traffic light type, the corresponding behavior parameter value may refer to a red light duration, a green light duration, and the like, but is not limited thereto. When the virtual object type is a pedestrian type, the corresponding behavior parameter value may be a walking speed parameter value, and the like, but is not limited thereto.

Each virtual object behavior identification has a corresponding virtual object type and a behavior parameter value corresponding to the virtual object type.

Specifically, the driving scenario configuration information may be saved in a driving scenario configuration file. The driving scene configuration information comprises a virtual object behavior identifier, a virtual object type and a behavior parameter value corresponding to the virtual object type. For example, if the virtual object behavior identifier is a uniform straight-line driving identifier, and the virtual object type is a vehicle, the behavior parameter corresponding to the virtual object type includes a speed parameter, and the corresponding behavior parameter value is a speed parameter value. The behavior parameter may also include a vehicle driving direction parameter, and the corresponding behavior parameter value is not limited thereto.

In this embodiment, the driving scenario configuration information may further include a behavior parameter corresponding to the behavior parameter value. Wherein the behavior parameter represents a variable. The behavior parameters may also be referred to as behavior parameter names. For example, the behavior parameter is a, and the behavior parameter value is 1.

And 204, determining corresponding virtual object behavior operation according to the virtual object behavior identification.

Wherein, a virtual object behavior operation can be regarded as a virtual object behavior program module. A program module is used to implement a function. I.e. a program module, for performing an action. A virtual object behavior identifier corresponds to a virtual object behavior operation. Each virtual object behavior identification has a corresponding virtual object behavior operation.

Specifically, the electronic device determines a corresponding virtual object behavior operation from the driving scene operation program according to the virtual object identifier. The driving scene operation program can comprise at least one virtual object behavior operation.

And step 206, executing the behavior operation of the virtual object according to the type of the virtual object and the corresponding behavior parameter value.

The virtual object behavior operation comprises a virtual object type parameter and a behavior parameter corresponding to the virtual object type. The behavior parameters in the driving scene configuration information correspond to the behavior parameters in the virtual object behavior operation. And the behavior parameter values in the driving scene configuration information are used for assigning values to the corresponding behavior parameters in the virtual object behavior operation.

Specifically, the electronic device inputs the driving scene configuration file into the simulator executable file to control the virtual object corresponding to the virtual object type to realize the corresponding behavior. Namely, the electronic device configures the behavior parameter value for the behavior parameter corresponding to the virtual object type in the driving scene operating program. The simulator executable file comprises program codes corresponding to virtual object behavior operation.

In this embodiment, the electronic device may assign values to the behavior parameters in the behavior operation of the virtual object according to the sequence of the behavior parameter values corresponding to the virtual object types.

According to the driving scene information processing method, the behavior scene configuration information comprises the virtual object behavior identification and the behavior parameter value corresponding to the virtual object type, so that the virtual object behavior operation needing to be executed can be determined according to the virtual object identification, the virtual object behavior operation is executed according to the virtual object type and the corresponding behavior parameter value, namely, what the virtual object behavior operation needing to be executed and the parameter value corresponding to the virtual object behavior operation are described in the behavior scene configuration information, the configurability of the scene and the behavior can be realized, different virtual object behavior operations can be executed only by modifying the virtual object behavior identification and the behavior parameter value, the use is more convenient, and the expandability of the program is high; although the modules corresponding to each driving scene in the conventional mode are mutually independent, obviously, some similar or even identical modules are necessarily available, and with the increase of the driving scenes, repeated codes are more and more, and repeated virtual object behavior operation is not easy to occur by adopting the mode in the embodiment of the application, so that the program compiling time is reduced, and the development and maintenance cost is reduced.

In addition, the difficulty of realizing complex functions in the traditional mode becomes large. In a traditional design mode, each time a new function is developed and a new scene is realized, the design is required to be built and designed from the beginning. With the continuous maturity of automatic driving technology, the requirements for simulation testing are higher and higher, and the complexity and the degree close to reality of a scene are only higher and higher. It is time consuming and laborious if new functionality is completely re-developed each time. By adopting the method in the embodiment of the application, the behavior of the virtual object can be easily changed only by changing the configuration information of the driving scene each time. Therefore, the method avoids creating excessive classes of the virtual object, reduces the time for compiling the program and also reduces the cost of subsequent development and maintenance.

In one embodiment, as shown in fig. 3, a flow chart of a driving scenario information processing method in another embodiment is shown. The driving scenario configuration file corresponding to the driving scenario configuration information may be a text document. The text document may be edited according to a specified protocol buffers file format. If the format of the driving scene configuration file is incorrect, the driving scene configuration file cannot be analyzed, and therefore the program cannot run normally. The electronic equipment transmits the driving scene configuration file as input to the simulator executable file, the simulator runs at the rear end, sends the scene state to the scene visualization tool in real time, and displays the scene state on the screen. The simulator executable file comprises at least one virtual object behavior operation.

// driving scenario configuration file format sample

An object ID: 1

The object type: vehicle with a steering wheel

Initial state

Position: location information

Speed: speed information

}

Intelligent level

And (3) red light deceleration: yes/no

Driving along a lane: yes/no

}

Behavior parameter

Parameter 1: value of parameter 1

Parameter 2: value of parameter 2

}

Wherein the object is a virtual object. The degree of intelligence may also be expressed in terms of a level. The higher the level, the higher the intelligence level. Parameter 1 has the same parameter name in the virtual object behavior operation.

In one embodiment, the driving scenario information processing method further includes: detecting an execution identifier corresponding to the virtual object behavior identifier; and when the execution identifier is an executable identifier, executing the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier.

Wherein the execution identifier is usable to determine whether to execute a certain virtual object behavior operation. The execution identifier may include an executable identifier and a non-executable identifier. The execution identification may be a boolean variable value. The virtual object behavior operation needing to be executed is determined by Boolean variables (Boolean variables) in the driving scene configuration information. For example, the executable flag is 1, the non-executable flag is 0; the executable is identified as true and the non-executable is identified as false.

Specifically, the electronic device detects an execution identifier corresponding to the virtual object behavior identifier. And when the execution identifier is an executable identifier, determining corresponding virtual object behavior operation according to the virtual object. When the execution identifier is the non-executable identifier, the virtual object behavior operation is not executed.

In this embodiment, the behavior scenario configuration information may include only an executable identifier. And when the execution identifier corresponding to the virtual object behavior identifier is an executable identifier, determining the corresponding virtual object behavior operation according to the virtual object behavior identifier.

The driving scene information processing method detects the execution identifier corresponding to the virtual object behavior identifier; when the execution identifier is an executable identifier, the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier is executed, and then the execution identifier is modified to determine which virtual object behavior operations are executed, so that the expandability of the program is improved.

In one embodiment, the virtual object behavior identification comprises a basic behavior identification; the basic behavior mark comprises at least one of a constant-speed straight-line driving mark, a speed control mark, a lane line driving mark and a lane changing driving mark. As shown in fig. 4, which is a schematic flowchart of determining a virtual object behavior operation in an embodiment, when an execution identifier is an executable identifier, executing an operation of determining a corresponding virtual object behavior operation according to the virtual object behavior identifier, includes:

and 402, when the execution identifier corresponding to the constant-speed linear driving identifier is an executable identifier, determining that the corresponding operation is the constant-speed linear driving operation according to the constant-speed linear driving identifier.

The basic behavior refers to a behavior of the vehicle when the vehicle travels on a road. Such as constant speed straight running, lane change running, acceleration running, deceleration running, and the like. The method specifically comprises the steps of driving along the current lane at a constant speed, switching to an adjacent lane, decelerating and stopping on a stop line when red light at an intersection is detected, paying attention to the distance and the relative speed of a vehicle ahead when the vehicle follows, adjusting the speed of the vehicle according to the speed limit of the current lane and the like. The uniform speed straight-line driving mark can be composed of at least one of numbers, characters, symbols and letters. For example, the constant speed straight running flag may be a. The constant-speed straight-line running operation refers to an operation in which the virtual vehicle runs along a straight line at a preset speed.

Specifically, the electronic device determines whether an execution identifier corresponding to the constant-speed straight-line driving identifier is an executable identifier. And when the execution identifier corresponding to the constant-speed linear driving identifier is an executable identifier, the electronic equipment determines that the corresponding operation is the constant-speed linear driving operation according to the constant-speed linear driving identifier in the driving scene configuration file. For example, the constant-speed straight-line driving identifier is a, and the electronic device determines that the corresponding operation is an operation a according to the identifier a. And the electronic equipment executes the uniform-speed straight-line running operation according to the vehicle type and the corresponding behavior parameter value. For example, the behavior parameter values include speed parameter values. And the electronic equipment executes the constant-speed straight-line running operation according to the type of the vehicle and the corresponding speed parameter value.

And step 404, when the execution identifier corresponding to the speed control identifier is the executable identifier, determining that the corresponding operation is the speed control operation according to the speed control identifier.

Wherein, the speed control mark can be composed of at least one of numbers, characters, symbols and letters. For example, the speed control flag may be B. The speed control operation may be used to control acceleration or deceleration of the virtual vehicle, or the like.

Specifically, the electronic device determines whether an execution identifier corresponding to the speed control identifier is an executable identifier. And when the execution identifier corresponding to the speed control identifier is an executable identifier, the electronic equipment determines that the corresponding operation is the speed control operation according to the speed control identifier in the driving scene file. The electronic device may perform a speed control operation based on the vehicle type and the corresponding behavior parameter value. For example, the behavior parameter values include acceleration parameter values. The electronic device executes a speed control operation according to the vehicle type and the corresponding acceleration parameter value.

And 406, when the execution identifier corresponding to the lane line running identifier is an executable identifier, determining that the corresponding operation is the lane line running operation according to the lane line running identifier.

The mark for driving along the lane line can be composed of at least one of numbers, characters, symbols and letters. For example, the lane line travel flag may be C. The operation of traveling along the lane line refers to an operation of the virtual vehicle traveling along a preset lane line at a preset speed. For example, the lane line may be a lane edge line or a lane center line.

Specifically, the electronic device determines whether an execution identifier corresponding to the lane line travel identifier is an executable identifier. And when the execution identifier corresponding to the lane line driving identifier is an executable identifier, the electronic equipment determines that the corresponding operation is the lane line driving operation according to the lane line driving identifier in the driving scene file. The electronic device may perform a lane-line driving operation according to the vehicle type and the corresponding behavior parameter value. For example, the behavior parameter values include driving parameter values along a lane line. The behavior parameter values may also include off-lane driving parameter values. And the electronic equipment executes the operation of driving along the lane line according to the type of the vehicle and the corresponding driving parameter value along the lane line.

And step 408, when the execution identifier corresponding to the lane change driving identifier is an executable identifier, determining the lane change driving operation according to the lane change driving identifier.

The lane-changing driving mark can be composed of at least one of numbers, characters, symbols and letters. For example, the lane change travel flag may be D. The lane change travel operation refers to an operation of the virtual vehicle to change the lane travel. For example, the virtual vehicle travels by changing from lane 1 to lane 2.

Specifically, the electronic device determines whether an execution identifier corresponding to the lane change driving identifier is an executable identifier. And when the execution identifier corresponding to the lane change driving identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the lane change driving operation according to the lane change driving identifier in the driving scene file. The electronic device may perform lane change driving operations according to the vehicle type and the corresponding behavior parameter value. For example, the behavior parameter values include acceleration parameter values. The electronic device executes lane change driving operation according to the vehicle type and the corresponding acceleration parameter value.

The driving scene information processing method can respectively determine corresponding virtual object behavior operation according to the execution marks corresponding to the constant-speed straight line driving mark, the speed control mark, the lane line driving mark and the lane changing driving mark, can enable the virtual vehicle to realize the corresponding virtual object behavior operation by modifying the virtual object behavior mark, obtains different driving scenes, and improves the expandability of a program.

In one embodiment, the speed control mark comprises at least one of a red light deceleration sub-mark, a deceleration sub-mark exceeding a speed limit value, a deceleration sub-mark according to a distance and an acceleration sub-mark. The speed control operation includes at least one of a red light deceleration sub-operation, a speed limit exceeding deceleration sub-operation, a speed reduction sub-operation according to a distance, and an acceleration sub-operation. When the execution identifier corresponding to the speed control is the executable identifier, determining the corresponding speed control operation according to the speed control, wherein the speed control operation comprises the following steps:

and (a1), when the execution identifier corresponding to the red light deceleration sub-identifier is the executable identifier, determining that the corresponding sub-operation is the red light deceleration sub-operation according to the red light deceleration sub-identifier.

The red light speed reducer identifier can be composed of at least one of numbers, characters, symbols and letters. For example, the red light slowdown sub identification may be B1. The red light deceleration sub-operation refers to a corresponding sub-operation when the virtual vehicle detects that the traffic light in front is red light.

Specifically, the electronic device determines whether an execution identifier corresponding to the red light deceleration sub-identifier is an executable identifier. And when the execution identifier corresponding to the red light speed reducer identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the red light speed reducer operation according to the red light speed reducer identifier in the driving scene file. The electronic device may perform a red light slowdown sub-operation according to the vehicle type and the corresponding behavior parameter value. For example, the behavior parameter values include an acceleration parameter value and an execution parameter value corresponding to a traffic lamp detection operation. And when the execution parameter value corresponding to the traffic light detection operation is the executable parameter value, the electronic equipment executes the red light deceleration sub-operation according to the type of the vehicle and the corresponding acceleration parameter value.

In this embodiment, when the execution identifier corresponding to the speed control identifier is an executable identifier, the electronic device determines whether the execution identifier corresponding to the red light deceleration sub-identifier is an executable identifier. And when the execution identifier corresponding to the red light speed reducer identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the red light speed reducer operation according to the red light speed reducer identifier in the driving scene file.

And (a2) when the execution mark corresponding to the speed limit value exceeding speed limit value deceleration sub-mark is the executable mark, determining the corresponding sub-operation as the speed limit value exceeding deceleration sub-operation according to the speed limit value exceeding speed limit value deceleration sub-mark.

The speed limit value refers to the maximum speed per hour limited by the road. For example, the speed limit may be 40 km/h or 60 km/h, etc., but is not limited thereto. The speed-limiting value exceeding speed-limiting sub-identifier may be composed of at least one of numbers, characters, symbols and letters. For example, the speed limit exceeding speed limit sub-flag may be B2. The speed-limiting-value-exceeding deceleration sub-operation is sub-operation corresponding to deceleration when the virtual vehicle detects that the current speed exceeds the speed-limiting value specified by the road.

Specifically, the electronic device determines whether an execution identifier corresponding to the speed limit value-exceeding speed reducer identifier is an executable identifier. And when the execution identifier corresponding to the speed limit value exceeding speed limit value deceleration sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the speed limit value exceeding deceleration sub-operation according to the speed limit value exceeding speed limit value deceleration sub-identifier in the driving scene file. The electronic device may perform a speed-limiting-value-exceeding slowdown sub-operation based on the vehicle and the corresponding behavior parameter value. For example, the behavior parameter values include an acceleration parameter value and a speed limit value. And when the speed value of the virtual vehicle exceeds the speed limit value, the electronic equipment executes speed reduction sub-operation exceeding the speed limit value according to the acceleration parameter value corresponding to the vehicle.

In this embodiment, when the execution identifier corresponding to the speed control identifier is an executable identifier, the electronic device determines whether the execution identifier corresponding to the speed limit value-exceeding speed reducer identifier is an executable identifier. And when the execution identifier corresponding to the speed limit value exceeding speed limit value deceleration sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the speed limit value exceeding deceleration sub-operation according to the speed limit value exceeding speed limit value deceleration sub-identifier in the driving scene file.

And (a3), when the execution identifier corresponding to the distance deceleration sub-identifier is the executable identifier, determining the corresponding sub-operation as the distance deceleration sub-operation according to the distance deceleration sub-identifier.

The distance is a distance between the virtual vehicle and the preceding vehicle. The decelerator marks may be formed of at least one of numbers, letters, symbols, and letters according to the distance. For example, the slowdown sub identification may be B3 according to distance. The sub-operation of decelerating according to the distance means that the sub-operation corresponding to deceleration is performed when the distance between the virtual vehicle and the preceding vehicle reaches a preset distance.

Specifically, the electronic device determines whether the execution identifier corresponding to the distance deceleration sub-identifier is an executable identifier. And when the execution identifier corresponding to the distance deceleration sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the distance deceleration sub-operation according to the distance deceleration sub-identifier in the driving scene file. The electronic device may perform the slowdown according to distance sub-operation according to the vehicle and the corresponding behavior parameter value. For example, the behavior parameter values include an acceleration parameter value and a distance parameter value between the virtual vehicle and the preceding vehicle. Wherein the distance parameter value is greater than the reference distance value. The reference distance value refers to a safe distance value between the virtual vehicle and the preceding vehicle. The reference distance value may be determined based on a current speed value of the virtual vehicle. When the distance between the virtual vehicle and the front vehicle is equal to or smaller than the distance parameter value, the electronic equipment executes the speed reduction sub-operation according to the distance according to the acceleration parameter value corresponding to the vehicle.

In this embodiment, when the execution identifier corresponding to the speed control identifier is an executable identifier, the electronic device determines whether the execution identifier corresponding to the speed reducer identifier is an executable identifier. And when the execution identifier corresponding to the distance deceleration sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the distance deceleration sub-operation according to the distance deceleration sub-identifier in the driving scene file.

And (a4), when the execution identifier corresponding to the acceleration sub-identifier is the executable identifier, determining the corresponding sub-operation as the acceleration sub-operation according to the acceleration sub-identifier.

Wherein, the accelerator mark can be composed of at least one of numbers, characters, symbols and letters. For example, the accelerator sub-id may be B4. The acceleration sub-operation is an operation of accelerating the virtual vehicle, and may be an operation of accelerating the virtual vehicle to a preset speed.

Specifically, the electronic device determines whether an execution identifier corresponding to the acceleration sub-identifier is an executable identifier. And when the execution identifier corresponding to the acceleration sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the acceleration sub-operation according to the acceleration sub-identifier in the driving scene file. The electronic device may perform an acceleration sub-operation based on the vehicle and the corresponding behavior parameter value. For example, the behavior parameter values include acceleration parameter values. Then the virtual vehicle accelerates when the acceleration parameter value is a positive number; when the acceleration parameter value is negative, the virtual vehicle decelerates.

In this embodiment, when the execution identifier corresponding to the speed control identifier is an executable identifier, the electronic device determines whether the execution identifier corresponding to the acceleration sub-identifier is an executable identifier. And when the execution identifier corresponding to the acceleration sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the acceleration sub-operation according to the acceleration sub-identifier in the driving scene file.

According to the driving scene information processing method, the corresponding speed control operation can be determined according to at least one of the red light speed reducer identifier, the speed reducer identifier exceeding the speed limit value, the distance speed reducer identifier and the acceleration identifier respectively, the precision of speed control can be improved, and therefore the reality of the driving environment of the simulated unmanned vehicle is improved.

In one embodiment, the lane change driving identifier includes at least one of a lane change sub-identifier, a passing lane change sub-identifier, and an emergency avoidance sub-identifier according to a preset route. The lane change operation includes at least one of a lane change sub-operation, a passing lane change sub-operation, and an emergency avoidance sub-operation according to a preset route. When the execution identifier corresponding to lane change driving is an executable identifier, determining lane change driving operation according to the lane change driving, including:

and (b1), when the execution identifier corresponding to the lane changing sub-identifier according to the preset route is the executable identifier, determining that the corresponding operation is the lane changing sub-operation according to the preset route according to the lane changing sub-identifier according to the preset route.

The lane change sub-identifier can be composed of at least one of numbers, characters, symbols and letters according to the preset route. For example, the lane change sub-identifier may be D1 according to a preset route. The lane changing sub-operation according to the preset route refers to a sub-operation corresponding to the lane changing of the virtual vehicle according to the preset route. The preset route refers to that the virtual vehicle changes lanes according to a preset route.

Specifically, the electronic device determines whether an execution identifier corresponding to the lane change sub-identifier is an executable identifier according to a preset route. And when the execution identifier corresponding to the lane changing sub-identifier according to the preset route is the executable identifier, the electronic equipment determines that the corresponding operation is the lane changing sub-operation according to the preset route according to the lane changing sub-identifier according to the preset route in the driving scene file. The electronic device may perform a lane change sub-operation according to a preset route based on the vehicle and the corresponding behavior parameter value. For example, the behavior parameter values include execution parameter values corresponding to lane change according to a preset route. And when the execution parameter value corresponding to the lane change according to the preset route is the executable parameter value, the electronic equipment executes the lane change sub-operation according to the preset route.

In this embodiment, when the execution identifier corresponding to the lane change driving identifier is an executable identifier, the electronic device determines whether the execution identifier corresponding to the lane change sub-identifier is an executable identifier according to the preset route. And when the execution identifier corresponding to the lane changing sub-identifier according to the preset route is the executable identifier, the electronic equipment determines that the corresponding operation is the lane changing sub-operation according to the preset route according to the lane changing sub-identifier according to the preset route in the driving scene file.

And (b2), when the execution identifier corresponding to the overtaking lane change sub-identifier is the executable identifier, determining that the corresponding sub-operation is the overtaking lane change sub-operation according to the overtaking lane change sub-identifier.

The overtaking lane change sub-mark can be composed of at least one of numbers, characters, symbols and letters. For example, the passing lane change sub-identifier may be D2. The overtaking lane changing sub-operation refers to a sub-operation corresponding to a lane change caused by the virtual vehicle overtaking. The overtaking lane changing sub-operation refers to a sub-operation that the vehicle changes lanes, and after overtaking a front vehicle, the vehicle is merged into the original lane.

Specifically, the electronic device determines whether an execution identifier corresponding to the passing lane change sub-identifier is an executable identifier. And when the execution identifier corresponding to the overtaking lane change sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the overtaking lane change sub-operation according to the overtaking lane change sub-identifier in the driving scene file. The electronic device may perform a passing lane change sub-operation based on the vehicle and the corresponding behavior parameter value. For example, the behavior parameter values include a lane identification value, a passing speed value, and the like of the lane change. And the electronic equipment executes the overtaking lane change sub-operation according to the lane mark value and the overtaking speed value of the lane change.

In this embodiment, when the execution identifier corresponding to the lane change driving identifier is an executable identifier, the electronic device determines whether the execution identifier corresponding to the passing lane change sub-identifier is an executable identifier. And when the execution identifier corresponding to the overtaking lane change sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the overtaking lane change sub-operation according to the overtaking lane change sub-identifier in the driving scene file.

And (b3), when the execution identifier corresponding to the emergency avoidance sub-identifier is the executable identifier, determining the corresponding sub-operation as the emergency avoidance sub-operation according to the emergency avoidance sub-identifier.

The emergency avoidance refers to avoidance when the vehicle encounters an emergency. The emergency avoidance sub-operation refers to avoiding the corresponding sub-operation when the virtual vehicle encounters an emergency. For example, when the virtual vehicle encounters a special vehicle, such as a fire truck or an ambulance, the special vehicle needs to avoid a special lane so that the special vehicle can pass through the lane smoothly. The emergency avoidance sub-identifier may be composed of at least one of numbers, characters, symbols and letters. For example, the emergency avoidance sub-identifier may be D3.

Specifically, the electronic device determines whether an execution identifier corresponding to the emergency avoidance sub-identifier is an executable identifier. And when the execution identifier corresponding to the emergency avoidance sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the emergency avoidance sub-operation according to the emergency avoidance sub-identifier in the driving scene file. The electronic device may perform an emergency avoidance sub-operation based on the vehicle and the corresponding behavior parameter value. For example, the behavior parameter values include a lane identification value for lane changing, an avoided vehicle type value, and the like. The electronic equipment executes an emergency avoidance sub-operation according to the lane marking value of the lane changing and the avoided vehicle type value.

In this embodiment, when the execution identifier corresponding to the lane change driving identifier is an executable identifier, the electronic device determines whether the execution identifier corresponding to the emergency avoidance sub-identifier is an executable identifier. And when the execution identifier corresponding to the emergency avoidance sub-identifier is the executable identifier, the electronic equipment determines that the corresponding operation is the emergency avoidance sub-operation according to the emergency avoidance sub-identifier in the driving scene file.

According to the driving scene information processing method, the corresponding lane changing driving operation can be determined according to at least one of the lane changing sub-identifier, the overtaking lane changing sub-identifier and the emergency avoidance sub-identifier according to the preset route, the lane changing precision can be improved, and therefore the reality of the driving environment of the simulated unmanned vehicle is improved.

In one embodiment, as shown in fig. 5, a relationship diagram of basic behavior identification in one embodiment is shown. The basic behavior mark comprises at least one of a speed control mark, a constant-speed straight-line driving mark, a lane line driving mark and a lane changing driving mark. The speed control mark comprises at least one of a red light deceleration sub-mark, a deceleration sub-mark exceeding a speed limit value, a deceleration sub-mark according to the distance and an acceleration sub-mark. The lane change mark comprises at least one of a lane change sub-mark, an overtaking lane change sub-mark and an emergency avoidance sub-mark according to a preset route. The uniform speed straight-line running mark can correspond to the uniform speed straight-line advancing operation according to the current speed. The lane line driving mark may correspond to a uniform speed advancing operation along a lane center line curve, and the like, but is not limited thereto. Virtual object behavior operations may be added directly to a class of virtual objects (smart agents) in the form of adding member functions. At the same time, the behavior operation of the virtual object can be classified into the figure 5 according to the function of the virtual object. Then add some logically determined code, as shown in FIG. 6, to determine when this function needs to be performed. Correspondingly, an execution identifier corresponding to the virtual object behavior identifier also needs to be added in the configuration file to indicate whether the virtual object behavior operation is enabled or not. Thus, the extensibility of the program is high.

A class of agents contains the definition of the agent, its basic properties, the functions it can implement, and other information that may be used. In short, the category of the vehicle may include attributes such as the current position, speed, size and color of the vehicle, and its functions may include how much distance to travel forward, deceleration and parking when a pedestrian passes the road ahead, deceleration and parking when a red light is on the intersection ahead, etc. In the class, each attribute is described by a variable, and each function is implemented by a member function. That is, each virtual object behavior operation can be implemented with a member function. Member functions, when run, can change the state of attributes in a class, such as location movement, etc. Every time a functional module is added, a corresponding member function needs to be added in the class, namely, a code of a section of function is written, namely, a behavior operation of a virtual object is added.

In one embodiment, as shown in fig. 6, a flowchart of the operation of determining behavior of a virtual object in one embodiment is shown.

Step 602, obtaining a driving scene configuration file.

Step 604, determine whether the execution identifier corresponding to the uniform velocity straight-line driving identifier is an executable identifier?

And 606, if yes, executing the uniform-speed straight-line driving operation.

In step 608, it is determined whether the execution identifier corresponding to the speed control identifier is an executable identifier?

In step 610, if yes, determine whether the execution identifier corresponding to the red light deceleration sub-identifier is an executable identifier? If the execution identifier corresponding to the red light speed reducer identifier is not an executable identifier, go to step 614.

In step 612, if the execution identifier corresponding to the red light speed reducer identifier is the executable identifier, the red light speed reducer operation is executed.

Step 614, determining whether the execution identifier corresponding to the speed-limiting value speed-reducing sub-identifier is an executable identifier? If the execution identifier corresponding to the speed limit speed reducer identifier is not the executable identifier, go to step 618.

In step 616, if the execution identifier corresponding to the speed limit exceeding speed limit value deceleration sub-identifier is the executable identifier, the speed limit exceeding speed limit value deceleration sub-operation is executed.

Step 618, determine whether the execution identifier corresponding to the distance deceleration sub-identifier is an executable identifier? If the execution identifier corresponding to the slowdown sub-identifier is not an executable identifier, go to step 622.

In step 620, if the execution identifier corresponding to the distance deceleration sub-identifier is an executable identifier, executing the distance deceleration sub-operation.

In step 622, it is determined whether the execution identifier corresponding to the acceleration sub-identifier is an executable identifier? If the execution identifier corresponding to the acceleration sub identifier is not an executable identifier, go to step 626.

In step 624, if the execution identifier corresponding to the acceleration sub-identifier is the executable identifier, the acceleration sub-operation is executed.

In step 626, it is determined whether the execution flag corresponding to the driving flag along the lane line is an executable flag? If the execution identifier corresponding to the driving identifier along the lane line is not an executable identifier, go to step 630.

In step 628, if the execution identifier corresponding to the acceleration sub-identifier is an executable identifier, the operation of traveling along the lane line is performed.

In step 630, determine whether the execution identifier corresponding to the lane change driving identifier is an executable identifier? And if the execution identifier corresponding to the lane changing driving identifier is not the executable identifier, ending the process or judging whether the execution identifier corresponding to other basic behavior identifiers is the executable identifier.

Step 632, if the execution identifier corresponding to the lane change driving identifier is an executable identifier, determine whether the execution identifier corresponding to the lane change sub-identifier is an executable identifier according to the preset route? If the execution identifier corresponding to the lane change sub-identifier is not an executable identifier, execute step 636.

In step 634, if the execution identifier corresponding to the lane change sub-identifier according to the preset route is the executable identifier, the lane change sub-operation according to the preset route is executed.

In step 636, determine whether the execution identifier corresponding to the passing lane change sub-identifier is the executable identifier? If the execution identifier corresponding to the passing lane change sub-identifier is not the executable identifier, go to step 640.

And step 638, if the execution identifier corresponding to the overtaking lane change sub-identifier is an executable identifier, executing the overtaking lane change sub-operation.

Step 640, determine whether the execution identifier corresponding to the emergency avoidance sub-identifier is an executable identifier? And if the execution identifier corresponding to the emergency avoidance sub-identifier is not the executable identifier, ending the process, or judging whether the execution identifier corresponding to the other basic behavior identifier is the executable identifier.

And 642, if the execution identifier corresponding to the emergency avoidance sub-identifier is the executable identifier, executing the emergency avoidance sub-operation.

According to the driving scene information processing method, the virtual object behavior operation which needs to be executed finally can be determined through a series of judgment conditions, and the configuration of the virtual object behavior operation is realized.

In one embodiment, the virtual object behavior identification comprises an abnormal behavior identification; the behavior parameter values comprise abnormal behavior parameter values; the virtual object behavior operations include abnormal behavior operations. Executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value, wherein the operation comprises the following steps: and executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value.

Wherein the abnormal behavior identifier is different from the basic behavior identifier. The abnormal behavior flag may refer to a behavior of not traveling under the laws and regulations or a behavior of a malfunction. The abnormal behavior parameter value may refer to a parameter value corresponding to the vehicle that is not within a range prescribed by laws and regulations. For example, the speed parameter value is 150 km/hour, etc., the distance from the preceding vehicle is less than the reference distance value, etc. And the abnormal behavior identifications corresponding to different virtual object types are different. For example, the abnormal behavior of the traffic light may be that the red light is always on, that the green light is not switched to, or that the yellow light is always on, but is not limited thereto.

Specifically, the abnormal behavior operation may be an overspeed traveling operation, a line pressing traveling operation, a non-stop operation at an intersection, a non-courtesy pedestrian operation, or the like, without being limited thereto. And the electronic equipment executes the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value.

According to the driving scene information processing method, the virtual object behavior identification comprises the abnormal behavior identification, the behavior parameter values comprise the abnormal behavior parameter values, the virtual object behavior operation comprises the abnormal behavior operation, the abnormal behavior operation is executed according to the virtual object type and the abnormal behavior parameter values, and due to the fact that some specified driving scenes have special requirements, for example, some vehicles for implementing the abnormal behavior need to be added into the driving scenes, the scenes corresponding to the abnormal behavior are used for testing whether the algorithm of the unmanned vehicles can play a role in the driving scenes, and the reality of driving scene simulation is improved; and the driving scene can be modified by changing the abnormal parameter values and the like, so that the expandability of the program is improved.

In one embodiment, the abnormal behavior identifier is a line pressing driving identifier; the virtual object type is a vehicle type. Executing abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value, wherein the abnormal behavior operation comprises the following steps: and executing the line pressing running operation corresponding to the line pressing running identification according to the type of the vehicle and the corresponding initial position and initial speed so as to control the virtual vehicle to run by pressing the line.

The line pressing driving refers to driving by occupying opposite lanes or driving by occupying the same lane. For example, whether the lane lines are solid or dashed, the vehicle travels in the lane. The initial position refers to a coordinate position of the virtual vehicle in the driving scene. The initial position may specifically be a position where the virtual vehicle is pressed against the lane line.

Specifically, the initial velocity is a fixed velocity value. And the electronic equipment executes the line pressing running operation corresponding to the line pressing running identification according to the initial position and the initial speed of the virtual vehicle so as to control the virtual vehicle to run in a line pressing mode. The virtual vehicle may be driven with uniform acceleration or uniform deceleration, or may be driven with a variable speed, or the like, without being limited thereto.

According to the driving scene information processing method, the line pressing driving operation is executed according to the initial position and the initial speed of the virtual vehicle so as to control the virtual vehicle to perform line pressing driving, the driving scene of the vehicle in the actual driving process can be simulated, the reality of driving scene simulation is improved, whether the algorithm of the unmanned vehicle is applicable in the scene can be tested, and therefore the applicability of the algorithm of the unmanned vehicle is improved.

In one embodiment, the abnormal behavior identifier is an intersection non-stop identifier; the virtual object type is a vehicle type; the abnormal behavior parameter value includes an execution parameter value of the traffic lamp detection operation as an unexecutable parameter value. Executing abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value, wherein the abnormal behavior operation comprises the following steps: and according to the vehicle type and the corresponding unexecutable parameter value, executing intersection non-stop operation corresponding to the intersection non-stop identification, and controlling the virtual vehicle to keep running at the intersection.

The intersection is an identifier that when the vehicle arrives at the intersection, the vehicle should decelerate, should stop when meeting a red light or should give a gift to a pedestrian when meeting a traffic regulation, but the virtual vehicle does not stop under the above conditions. The intersection non-stop mark can be composed of at least one of numbers, characters, symbols and letters. The detection operation corresponding to the vehicle type includes, but is not limited to, a traffic light detection operation, a sidewalk detection operation, a pedestrian detection operation, and the like. The traffic light detecting operation is to detect the color of the traffic light and judge whether or not it is passable. The non-executable parameter values are used to not turn on traffic light detection operations. The executable parameter values may be 1, true, etc. without limitation, and the non-executable parameter values may be 0, false, etc. without limitation.

Specifically, the electronic device executes intersection non-stop operation corresponding to the intersection non-stop identification according to the vehicle type and the non-executable parameter value corresponding to the vehicle type, wherein the non-executable parameter value is an execution parameter value of traffic light detection operation, and controls the virtual vehicle to keep running at the intersection.

According to the driving scene information processing method, the intersection non-stop operation corresponding to the intersection non-stop mark is executed according to the vehicle type and the corresponding non-executable parameter value, the virtual vehicle is controlled to keep driving at the intersection, namely the electronic equipment does not execute the traffic light detection operation corresponding to the virtual vehicle, and the method can be equivalent to the method that the unmanned vehicle encounters the vehicle which does not drive according to the traffic light in the driving process, so that whether the algorithm of the unmanned vehicle plays a role in the scene can be detected, and the authenticity of driving scene simulation is improved.

In one embodiment, the abnormal behavior identifier is a merging target vehicle front identifier; the virtual object type is a vehicle type; the abnormal behavior parameter value includes a distance parameter value between the virtual vehicle and the target vehicle, which is smaller than the reference distance value. Executing abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value, wherein the abnormal behavior operation comprises the following steps: and executing merging operation corresponding to the front mark of the merging target vehicle according to the vehicle type and the corresponding distance parameter value, and controlling the virtual vehicle to merge into the driving front of the target vehicle.

The reference distance value refers to a safe distance value between the virtual vehicle and the target vehicle. The reference distance value may be determined based on a current speed value of the virtual vehicle. When the speed value corresponding to the virtual vehicle is larger, the reference distance value is larger; when the speed value corresponding to the virtual vehicle is smaller, the reference distance value is smaller. The target vehicle is a virtual unmanned vehicle.

Specifically, the sign incorporated in front of the target vehicle may be composed of at least one of a number, a letter, a symbol, and a letter. The merging operation may refer to that the virtual vehicle and the target vehicle are not in the same lane, and the virtual vehicle merges into the lane where the target vehicle is located from the front of the target vehicle. The distance parameter value refers to a distance parameter value between the virtual vehicle and the target vehicle. For example, the electronic device performs the merging operation according to a reference distance value corresponding to the virtual vehicle, for example, 5 meters, to control the virtual vehicle to merge into the traveling front of the target vehicle when 5 meters away from the target vehicle. At this time, the target vehicle should be braked emergently.

According to the driving scene information processing method, when the distance parameter value is smaller than the reference distance value, the virtual vehicle executes the merging operation, traffic accidents, namely rear-end collision or side collision and other accidents are easily caused, the virtual vehicle simulates abnormal behaviors of unmanned vehicles during driving and colliding on a road, and therefore whether the algorithm of the unmanned vehicles plays a role in the scene can be detected, and the reality of driving scene simulation is also improved.

In one embodiment, the number of virtual object behavior identifiers is at least two. Executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value, wherein the operation comprises the following steps: and executing at least two corresponding virtual object behavior operations according to the sequence of the at least two virtual object behavior identifications and the virtual object type and the behavior parameter value corresponding to each virtual object behavior identification.

Wherein, the number of the virtual object behavior identifiers can be at least two. For example, taking the example that the virtual object behavior identifier includes a uniform speed straight-driving identifier and a lane line driving identifier, the virtual vehicle may drive straight at a uniform speed along the lane line. Taking the example that the virtual object behavior flag includes the speed control flag and the lane line travel flag, the virtual vehicle may travel with acceleration along the lane line, and the like are not limited thereto.

Specifically, the order of the at least two virtual object behavior identifiers may be an order of appearance in the driving scenario configuration information, or a time order corresponding to the virtual object behavior identifiers. The electronic device executes a virtual object behavior operation corresponding to each virtual object behavior identifier, namely, executes at least two virtual object behavior operations, according to the appearance sequence or the corresponding time sequence of at least two virtual object behavior identifiers, and the virtual object type and the behavior parameter value corresponding to each virtual object behavior identifier. For example, the electronic device controls the virtual vehicle to perform the constant speed straight running operation corresponding to the constant speed straight running identifier first, and then perform the speed control operation corresponding to the speed control identifier. Or the electronic equipment controls the virtual vehicle to execute a constant-speed straight-line running operation, and when the fact that the speed of the front vehicle is lower than that of the virtual vehicle is detected, the lane changing operation is executed.

According to the driving scene information processing method, the corresponding at least two virtual object behavior operations are executed according to the sequence of the at least two virtual object behavior identifications and the virtual object type and the behavior parameter value corresponding to each virtual object behavior identification, the actual driving scene of the unmanned vehicle can be simulated, different virtual object behavior operations can be executed only by modifying the virtual object behavior identifications and the behavior parameter values, the use is more convenient, and the expandability of the program is high.

In one embodiment, the driving scenario configuration information includes initial state information corresponding to a virtual object type. Executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value, wherein the operation comprises the following steps: and executing the behavior operation of the virtual object according to the type of the virtual object and the initial state information and the behavior parameter value corresponding to the type of the virtual object.

The initial state information is state information when the virtual object is started. Different types of virtual objects may have different initial state information. For example, the initial state information corresponding to the vehicle type may include an initial position and an initial velocity value. The initial state information corresponding to the traffic light type may include a color of the traffic light, etc. The initial state information corresponding to the pedestrian type may include an initial position, an initial speed, and the like.

Specifically, the electronic device executes corresponding virtual object behavior operation according to the type of the virtual object, the initial state information and the behavior parameter value corresponding to the type. For example, the electronic device performs a virtual object behavior operation to control the virtual vehicle to transition to lane 2 at a speed of 40 km/sec, based on an initial position and an initial speed of the vehicle and the vehicle, respectively, where the initial speed is 40 km/sec, and a parameter value for the transition to lane 2.

According to the driving scene information processing method, the virtual object behavior operation is executed according to the virtual object type and the initial state information and the behavior parameter value corresponding to the virtual object type, different initial state information and different behavior parameter values can be configured for different types, namely, the corresponding virtual behavior operation can be executed, and the expandability of a program is improved.

In one embodiment, the driving scenario configuration information includes virtual object attribute information. The driving scene information processing method further includes: and configuring corresponding virtual object attribute information for the virtual object attributes.

Specifically, the virtual object attribute information refers to information of the virtual object itself. For example, the color, size, model of the virtual vehicle, or the height of the traffic light, the model of the traffic light, etc., or the hairstyle, clothing, etc., of the pedestrian are not limited thereto. The virtual object attribute parameter refers to a variable, which is not assigned. The virtual object attribute parameters may be saved in the simulator executable file. The electronic equipment acquires the attribute information of the virtual object and configures the corresponding attribute information of the virtual object for the attribute parameters of the virtual object.

According to the driving scene information processing method, the corresponding virtual object attribute information is configured for the virtual object attribute, the attribute of the virtual object can be modified, different driving requirements are met, and the interactivity of the driving scene is improved.

It should be understood that, although the respective operations in the flowcharts of fig. 2, 4 and 6 are sequentially shown as indicated by arrows, the operations are not necessarily sequentially performed in the order indicated by the arrows. The operations may be performed in other sequences without a strict order of limitation unless explicitly stated otherwise. Moreover, at least some of the operations in fig. 2, 4, and 6 may include multiple sub-operations or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of execution of the sub-operations or stages is not necessarily sequential, but may be rotated or alternated with other operations or at least some of the sub-operations or stages of other operations.

In one embodiment, as shown in fig. 7, a driving scenario information processing apparatus is provided, which is a block diagram of a driving scenario information processing apparatus in one embodiment, and includes an obtaining module 702, a determining module 704, and an executing module 706, where:

an obtaining module 702, configured to obtain driving scenario configuration information, where the driving scenario configuration information includes a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier, and a behavior parameter value corresponding to the virtual object type;

a determining module 704, configured to determine, according to the virtual object behavior identifier, a corresponding virtual object behavior operation;

and the execution module 706 is configured to execute the virtual object behavior operation according to the virtual object type and the behavior parameter value.

According to the driving scene information processing device, the behavior scene configuration information comprises the virtual object behavior identifier and the behavior parameter value corresponding to the virtual object type, so that the virtual object behavior operation needing to be executed can be determined according to the virtual object identifier, the virtual object behavior operation can be executed according to the virtual object type and the corresponding behavior parameter value, namely, what the virtual object behavior operation needing to be executed and the parameter value corresponding to the virtual object behavior operation are described in the behavior scene configuration information, the scene and the behavior can be configured, different virtual object behavior operations can be executed only by modifying the virtual object behavior identifier and the behavior parameter value, the use is more convenient, and the expandability of a program is high; although the modules corresponding to each driving scene in the conventional mode are mutually independent, obviously, some similar or even identical modules are necessarily available, and with the increase of the driving scenes, repeated codes are more and more, and repeated virtual object behavior operation is not easy to occur by adopting the mode in the embodiment of the application, so that the program compiling time is reduced, and the development and maintenance cost is reduced.

In one embodiment, the determining module 704 is configured to detect an execution identifier corresponding to the virtual object behavior identifier; and when the execution identifier is an executable identifier, executing the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier.

The driving scene information processing device detects an execution identifier corresponding to the virtual object behavior identifier; when the execution identifier is an executable identifier, the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier is executed, and then the execution identifier is modified to determine which virtual object behavior operations are executed, so that the expandability of the program is improved.

In one embodiment, the virtual object behavior identification comprises a basic behavior identification; the basic behavior mark comprises at least one of a constant-speed straight-line driving mark, a speed control mark, a lane line driving mark and a lane changing driving mark. The determining module 704 is configured to determine that the corresponding operation is the constant speed straight running operation according to the constant speed straight running identifier when the execution identifier corresponding to the constant speed straight running identifier is the executable identifier. The determining module 704 is configured to determine that the corresponding operation is a speed control operation according to the speed control identifier when the execution identifier corresponding to the speed control identifier is an executable identifier. The determining module 704 is configured to determine that the corresponding operation is the operation of traveling along the lane line according to the identification of traveling along the lane line when the execution identification corresponding to the identification of traveling along the lane line is the executable identification. The determining module 704 is configured to determine the lane change driving operation according to the lane change driving identifier when the execution identifier corresponding to the lane change driving identifier is the executable identifier.

The driving scene information processing device can respectively determine corresponding virtual object behavior operation according to the execution marks corresponding to the constant-speed straight line driving mark, the speed control mark, the lane line driving mark and the lane changing driving mark, can enable the virtual vehicle to realize the corresponding virtual object behavior operation by modifying the virtual object behavior mark, obtains different driving scenes, and improves the expandability of a program.

In one embodiment, the speed control mark comprises at least one of a red light deceleration sub-mark, a deceleration sub-mark exceeding a speed limit value, a deceleration sub-mark according to a distance and an acceleration sub-mark. The speed control operation includes at least one of a red light deceleration sub-operation, a speed limit exceeding deceleration sub-operation, a speed reduction sub-operation according to a distance, and an acceleration sub-operation. The determining module 704 is configured to determine, when the execution identifier corresponding to the red light speed reduction sub-identifier is the executable identifier, that the corresponding sub-operation is the red light speed reduction sub-operation according to the red light speed reduction sub-identifier. The determining module 704 is configured to determine, when the execution identifier corresponding to the speed limit value-exceeding speed reduction sub-identifier is an executable identifier, that the corresponding sub-operation is the speed limit value-exceeding speed reduction sub-operation according to the speed limit value-exceeding speed reduction sub-identifier. The determining module 704 is configured to determine, when the execution identifier corresponding to the distance deceleration sub-identifier is the executable identifier, that the corresponding sub-operation is the distance deceleration sub-operation according to the distance deceleration sub-identifier. The determining module 704 is configured to determine, when the execution identifier corresponding to the acceleration sub-identifier is the executable identifier, that the corresponding sub-operation is the acceleration sub-operation according to the acceleration sub-identifier.

The driving scene information processing device can determine corresponding speed control operation according to at least one of the red light speed reducer identifier, the speed reducer identifier exceeding the speed limit value, the distance speed reducer identifier and the acceleration identifier respectively, and can improve the precision of speed control, so that the authenticity of the driving environment of the simulated unmanned vehicle is improved.

In one embodiment, the lane change driving identifier includes at least one of a lane change sub-identifier, a passing lane change sub-identifier, and an emergency avoidance sub-identifier according to a preset route. The lane change operation includes at least one of a lane change sub-operation, a passing lane change sub-operation, and an emergency avoidance sub-operation according to a preset route. The determining module 704 is configured to determine that the corresponding operation is a lane changing sub-operation according to the preset route according to the lane changing sub-identifier according to the preset route when the execution identifier corresponding to the lane changing sub-identifier according to the preset route is the executable identifier. The determining module 704 is configured to determine, when the execution identifier corresponding to the passing lane change sub-identifier is an executable identifier, that the corresponding sub-operation is a passing lane change sub-operation according to the passing lane change sub-identifier. The determining module 704 is configured to determine, when the execution identifier corresponding to the emergency avoidance sub-identifier is the executable identifier, that the corresponding sub-operation is the emergency avoidance sub-operation according to the emergency avoidance sub-identifier.

The driving scene information processing device can respectively determine the corresponding lane changing driving operation according to at least one of the lane changing sub-identifier, the overtaking lane changing sub-identifier and the emergency avoidance sub-identifier according to the preset route, can improve the lane changing precision, and accordingly improves the authenticity of the driving environment of the simulated unmanned vehicle.

In one embodiment, the virtual object behavior identification comprises an abnormal behavior identification; the behavior parameter values comprise abnormal behavior parameter values; the virtual object behavior operations include abnormal behavior operations. The execution module 706 is configured to execute the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value.

According to the driving scene information processing device, the virtual object behavior identifier comprises the abnormal behavior identifier, the behavior parameter value comprises the abnormal behavior parameter value, the virtual object behavior operation comprises the abnormal behavior operation, the abnormal behavior operation is executed according to the virtual object type and the abnormal behavior parameter value, and as the specified driving scenes have special requirements, for example, some vehicles for implementing the abnormal behavior need to be added into the driving scenes, and the scene corresponding to the abnormal behavior is used for testing whether the algorithm of the unmanned vehicle can play a role in the scene, so that the reality of the driving scene simulation is improved; and the driving scene can be modified by changing the abnormal parameter values and the like, so that the expandability of the program is improved.

In one embodiment, the abnormal behavior identifier is a line pressing driving identifier; the virtual object type is a vehicle type. The execution module 706 is configured to execute a line pressing running operation corresponding to the line pressing running identifier according to the vehicle type, the corresponding initial position, and the corresponding initial speed, so as to control the virtual vehicle to run while pressing a line.

According to the driving scene information processing device, the line pressing driving operation is executed according to the initial position and the initial speed of the virtual vehicle so as to control the virtual vehicle to perform line pressing driving, the driving scene of the vehicle in the actual driving process can be simulated, the reality of driving scene simulation is improved, whether the algorithm of the unmanned vehicle is applicable in the scene can be tested, and therefore the applicability of the algorithm of the unmanned vehicle is improved.

In one embodiment, the abnormal behavior identifier is an intersection non-stop identifier; the virtual object type is a vehicle type; the abnormal behavior parameter value includes an execution parameter value of the traffic lamp detection operation as an unexecutable parameter value. The execution module 706 is configured to execute an intersection non-stop operation corresponding to the intersection non-stop identifier according to the vehicle type and the corresponding non-executable parameter value, and control the virtual vehicle to keep running at the intersection.

According to the driving scene information processing device, the intersection non-stop operation corresponding to the intersection non-stop mark is executed according to the vehicle type and the corresponding non-executable parameter value, the virtual vehicle is controlled to keep driving at the intersection, namely the electronic equipment does not execute the traffic light detection operation corresponding to the virtual vehicle, and the driving scene information processing device can be equivalent to a situation that an unmanned vehicle encounters a vehicle which does not drive according to the traffic light in the driving process, so that whether the algorithm of the unmanned vehicle plays a role in the scene can be detected, and the authenticity of driving scene simulation is improved.

In one embodiment, the abnormal behavior identifier is a merging target vehicle front identifier; the virtual object type is a vehicle type; the abnormal behavior parameter value includes a distance parameter value between the virtual vehicle and the target vehicle, which is smaller than the reference distance value. The execution module 706 is configured to execute a merging operation corresponding to the merging target vehicle front identifier according to the vehicle type and the corresponding distance parameter value, and control the virtual vehicle to merge into the target vehicle driving front.

According to the driving scene information processing device, when the distance parameter value is smaller than the reference distance value, the virtual vehicle executes the merging operation, so that traffic accidents, namely rear-end collision or side collision and other accidents are easily caused, the virtual vehicle simulates abnormal behaviors of unmanned vehicles during driving and colliding on a road, whether the algorithm of the unmanned vehicles plays a role in the scene can be detected, and the reality of driving scene simulation is also improved.

In one embodiment, the number of virtual object behavior identifiers is at least two. The executing module 706 is configured to execute the corresponding at least two virtual object behavior operations according to the order of the at least two virtual object behavior identifiers and the virtual object type and behavior parameter value corresponding to each virtual object behavior identifier.

According to the driving scene information processing device, the corresponding at least two virtual object behavior operations are executed according to the sequence of the at least two virtual object behavior identifications and the virtual object type and the behavior parameter value corresponding to each virtual object behavior identification, the actual driving scene of the unmanned vehicle can be simulated, different virtual object behavior operations can be executed only by modifying the virtual object behavior identifications and the behavior parameter values, the use is more convenient, and the expandability of the program is high.

In one embodiment, the driving scenario configuration information includes initial state information corresponding to a virtual object type. The executing module 706 is configured to execute the virtual object behavior operation according to the virtual object type, the initial state information corresponding to the virtual object type, and the behavior parameter value.

The driving scene information processing device executes the virtual object behavior operation according to the virtual object type and the initial state information and the behavior parameter value corresponding to the virtual object type, can configure different initial state information and behavior parameter values for different types, can execute the corresponding virtual behavior operation, and improves the expandability of a program.

In one embodiment, the driving scenario configuration information includes virtual object attribute information. The driving scene information processing apparatus further includes a configuration module. The configuration module is used for configuring corresponding virtual object attribute information for the virtual object attributes.

The driving scene information processing device configures corresponding virtual object attribute information for the virtual object attributes, can modify the attributes of the virtual object, meets different driving requirements, and improves the interactivity of the driving scene.

The division of each module in the driving scenario information processing apparatus is only for illustration, and in other embodiments, the driving scenario information processing apparatus may be divided into different modules as needed to complete all or part of the functions of the driving scenario information processing apparatus.

For specific limitations of the driving scenario information processing apparatus, reference may be made to the above limitations of the driving scenario information processing method, which are not described herein again. Each module in the driving scene information processing apparatus may be entirely or partially implemented by software, hardware, or a combination thereof. The modules can be embedded in a hardware form or independent of a processor in the electronic device, or can be stored in a memory in the electronic device in a software form, so that the processor can call and execute operations corresponding to the modules.

The implementation of each module in the driving scenario information processing apparatus provided in the embodiment of the present application may be in the form of a computer program. The computer program may be run on an electronic device such as a terminal or a server. Program modules constituted by such computer programs may be stored on the memory of the electronic device. The computer program, when executed by a processor, implements the operations of the travel scenario information processing method described in the embodiments of the present application.

In one embodiment, an electronic device is provided, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, and when the processor executes the computer program, the processor implements the operations of the driving scenario information processing method provided in the above embodiments.

In one embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed on a processor, implements the operations of the travel scenario information processing method described in the embodiments of the present application.

In one embodiment, a computer program product containing instructions is provided, which when run on a computer, causes the computer to perform the driving scenario information processing method described in the embodiments of the present application.

Any reference to memory, storage, database, or other medium used herein may include non-volatile and/or volatile memory. Suitable non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchronous Link (Synchlink) DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and bus dynamic RAM (RDRAM).

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

A driving scene information processing method includes:

acquiring running scene configuration information, wherein the running scene configuration information comprises a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier and a behavior parameter value corresponding to the virtual object type;

determining corresponding virtual object behavior operation according to the virtual object behavior identification; and

and executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value.
The method of claim 1, further comprising:

detecting an execution identifier corresponding to the virtual object behavior identifier;

and when the execution identifier is an executable identifier, executing the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier.
The method of claim 2, wherein the virtual object behavior identification comprises a basic behavior identification; the basic behavior mark comprises at least one of a uniform-speed straight-line driving mark, a speed control mark, a lane line driving mark and a lane changing driving mark;

when the execution identifier is an executable identifier, the operation of determining the corresponding virtual object behavior operation according to the virtual object behavior identifier is executed, including:

when the execution identifier corresponding to the uniform-speed linear running identifier is an executable identifier, determining that the corresponding operation is a uniform-speed linear running operation according to the uniform-speed linear running identifier;

when the execution identifier corresponding to the speed control identifier is an executable identifier, determining that the corresponding operation is a speed control operation according to the speed control identifier;

when the execution identifier corresponding to the lane line running identifier is an executable identifier, determining that the corresponding operation is a lane line running operation according to the lane line running identifier;

and when the execution identifier corresponding to the lane change driving identifier is an executable identifier, determining lane change driving operation according to the lane change driving identifier.
The method of claim 3, wherein the speed control sign comprises at least one of a red light deceleration sub-sign, a speed limit exceeding deceleration sub-sign, a speed reduction sub-sign according to distance, and an acceleration sub-sign;

when the execution identifier corresponding to the speed control is the executable identifier, determining the corresponding speed control operation according to the speed control, including:

when the execution identifier corresponding to the red light speed reducer identifier is the executable identifier, determining that the corresponding sub-operation is the red light speed reducer sub-operation according to the red light speed reducer identifier;

when the execution identifier corresponding to the speed limit value exceeding speed limit value deceleration sub-identifier is the executable identifier, determining the corresponding sub-operation as the speed limit value exceeding speed limit value deceleration sub-operation according to the speed limit value exceeding speed limit value deceleration sub-identifier;

when the execution identifier corresponding to the speed reducer identifier according to the distance is the executable identifier, determining the corresponding sub-operation as the speed reducer sub-operation according to the distance according to the speed reducer identifier;

and when the execution identifier corresponding to the acceleration sub-identifier is the executable identifier, determining the corresponding sub-operation as the acceleration sub-operation according to the acceleration sub-identifier.
The method of claim 3, wherein the lane change driving identifier comprises at least one of a lane change sub-identifier, a passing lane change sub-identifier, and an emergency avoidance sub-identifier according to a preset route;

when the execution identifier corresponding to the lane change driving is an executable identifier, determining lane change driving operation according to the lane change driving, including:

when the execution identifier corresponding to the lane changing sub-identifier according to the preset route is an executable identifier, determining that the corresponding operation is a lane changing sub-operation according to the preset route according to the lane changing sub-identifier according to the preset route;

when the execution identifier corresponding to the overtaking lane change sub-identifier is an executable identifier, determining that the corresponding sub-operation is the overtaking lane change sub-operation according to the overtaking lane change sub-identifier;

and when the execution identifier corresponding to the emergency avoidance sub-identifier is the executable identifier, determining that the corresponding sub-operation is the emergency avoidance sub-operation according to the emergency avoidance sub-identifier.
The method of claim 1, wherein the virtual object behavior identification comprises an abnormal behavior identification; the behavior parameter values comprise abnormal behavior parameter values; the virtual object behavior operation comprises an abnormal behavior operation;

the executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value comprises:

and executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value.
The method according to claim 6, wherein the abnormal behavior flag is a line-pressing driving flag; the virtual object type is a vehicle type;

the executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value comprises:

and executing the line pressing running operation corresponding to the line pressing running identification according to the type of the vehicle and the corresponding initial position and initial speed so as to control the virtual vehicle to run by pressing the line.
The method of claim 6, wherein the abnormal behavior identifier is an intersection non-stop identifier; the virtual object type is a vehicle type; the abnormal behavior parameter value comprises an execution parameter value of traffic light detection operation as a non-executable parameter value;

the executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value comprises:

and executing intersection non-stop operation corresponding to the intersection non-stop mark according to the vehicle type and the corresponding non-executable parameter value so as to control the virtual vehicle to keep running at the intersection.
The method of claim 6, wherein the abnormal behavior signature is a merge target vehicle front signature; the virtual object type is a vehicle type; the abnormal behavior parameter value comprises a distance parameter value between the virtual vehicle and the target vehicle, and the distance parameter value is smaller than a reference distance value;

the executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value comprises:

and executing merging operation corresponding to the merging target vehicle front identification according to the vehicle type and the corresponding distance parameter value so as to control the virtual vehicle to merge into the target vehicle running front.
The method according to any one of claims 1 to 9, wherein the number of the virtual object behavior identifiers is at least two;

the executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value comprises:

and executing at least two corresponding virtual object behavior operations according to the sequence of at least two virtual object behavior identifications and the virtual object type and the behavior parameter value corresponding to each virtual object behavior identification.
The method according to any one of claims 1 to 9, wherein the driving scenario configuration information includes initial state information corresponding to the virtual object type;

the executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value comprises:

and executing the behavior operation of the virtual object according to the virtual object type, the initial state information corresponding to the virtual object type and the behavior parameter value.
The method according to any one of claims 1 to 9, wherein the driving scenario configuration information includes virtual object attribute information;

the method further comprises the following steps:

and configuring corresponding virtual object attribute information for the virtual object attribute parameters.
A travel scene information processing apparatus characterized by comprising:

the system comprises an acquisition module, a processing module and a display module, wherein the acquisition module is used for acquiring driving scene configuration information, and the driving scene configuration information comprises a virtual object behavior identifier, a virtual object type corresponding to the virtual object behavior identifier and a behavior parameter value corresponding to the virtual object type;

the determining module is used for determining corresponding virtual object behavior operation according to the virtual object behavior identification;

and the execution module is used for executing the behavior operation of the virtual object according to the type of the virtual object and the behavior parameter value.
The apparatus according to claim 13, wherein the determining module is configured to detect an execution identifier corresponding to the virtual object behavior identifier; and the determining module is used for determining corresponding virtual object behavior operation according to the virtual object behavior identifier when the execution identifier is an executable identifier.
The apparatus according to claim 14, wherein the virtual object behavior identifier comprises a basic behavior identifier; the basic behavior mark comprises at least one of a uniform-speed straight-line driving mark, a speed control mark, a lane line driving mark and a lane changing driving mark;

the determining module is used for determining that the corresponding operation is the constant-speed straight-line running operation according to the constant-speed straight-line running identifier when the execution identifier corresponding to the constant-speed straight-line running identifier is the executable identifier;

the determining module is used for determining that the corresponding operation is the speed control operation according to the speed control identification when the execution identification corresponding to the speed control identification is the executable identification;

the determining module is used for determining that the corresponding operation is the operation of driving along the lane line according to the identification of driving along the lane line when the execution identification corresponding to the identification of driving along the lane line is the executable identification;

the determining module is used for determining the lane changing operation according to the lane changing driving identification when the execution identification corresponding to the lane changing driving identification is the executable identification.
The apparatus of claim 15, wherein the speed control mark comprises at least one of a red light deceleration sub-mark, a speed limit exceeding deceleration sub-mark, a speed reduction sub-mark according to distance, and an acceleration sub-mark;

the determining module is used for determining that the corresponding sub-operation is the red light deceleration sub-operation according to the red light deceleration sub-identification when the execution identification corresponding to the red light deceleration sub-identification is the executable identification;

the determining module is used for determining the corresponding sub-operation as the speed-limiting-value-exceeding speed-reducing sub-operation according to the speed-limiting-value-exceeding speed-reducing sub-identification when the execution identification corresponding to the speed-limiting-value-exceeding speed-reducing sub-identification is the executable identification;

the determining module is used for determining the corresponding sub-operation as the speed-reducing sub-operation according to the distance according to the speed-reducing sub-identification when the execution identification corresponding to the speed-reducing sub-identification according to the distance is the executable identification;

and the determining module is used for determining the corresponding sub-operation as the acceleration sub-operation according to the acceleration sub-identifier when the execution identifier corresponding to the acceleration sub-identifier is the executable identifier.
The apparatus of claim 15, wherein the lane change driving identifier comprises at least one of a lane change sub-identifier, a passing lane change sub-identifier, and an emergency avoidance sub-identifier according to a preset route;

the determining module is used for determining that the corresponding operation is the lane changing sub-operation according to the preset route according to the lane changing sub-identifier according to the preset route when the execution identifier corresponding to the lane changing sub-identifier according to the preset route is the executable identifier;

the determining module is used for determining the corresponding sub-operation as the overtaking lane changing sub-operation according to the overtaking lane changing sub-identifier when the execution identifier corresponding to the overtaking lane changing sub-identifier is the executable identifier;

the determining module is used for determining the corresponding sub-operation as the emergency avoidance sub-operation according to the emergency avoidance sub-identifier when the execution identifier corresponding to the emergency avoidance sub-identifier is the executable identifier.
The apparatus of claim 13, wherein the virtual object behavior identifier comprises an abnormal behavior identifier; the behavior parameter values comprise abnormal behavior parameter values; the virtual object behavior operation comprises an abnormal behavior operation;

the execution module is used for executing the abnormal behavior operation according to the virtual object type and the abnormal behavior parameter value.
An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the computer program, when executed by the processor, causes the processor to perform the operations of the method of any of claims 1 to 12.
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the operations of the method according to any one of claims 1 to 12.