CN113885771B - Visual processing method of track information - Google Patents

Visual processing method of track information Download PDF

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Publication number
CN113885771B
CN113885771B CN202111495388.3A CN202111495388A CN113885771B CN 113885771 B CN113885771 B CN 113885771B CN 202111495388 A CN202111495388 A CN 202111495388A CN 113885771 B CN113885771 B CN 113885771B
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time
point
curve
track
information
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CN113885771A (en
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孙宁
高景伯
姜川
孙红英
贾轶春
陈瀚
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Beijing Chewang Technology Development Co ltd
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Beijing Chewang Technology Development Co ltd
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/20—Drawing from basic elements, e.g. lines or circles
    • G06T11/203—Drawing of straight lines or curves
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G07C5/0808—Diagnosing performance data

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  • General Engineering & Computer Science (AREA)
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  • Traffic Control Systems (AREA)

Abstract

The embodiment of the invention relates to a visual processing method of track information, which comprises the following steps: acquiring first self-vehicle size information, first track information and corresponding first scene information of a simulated vehicle; acquiring a first visualization processing instruction; when the first visual processing instruction is a curve comparison processing instruction, longitudinal display processing is carried out on a curve of the path, the speed and the steering angle of the simulated vehicle changing according to time according to the first track information and the first scene information; and when the first visualization processing instruction is a driving process simulation instruction, performing driving process simulation display processing according to the first vehicle size information, the first track information and the first scene information. By the method and the device, the analysis workload of developers can be reduced, and the development efficiency is improved.

Description

Visual processing method of track information
Technical Field
The invention relates to the technical field of data processing, in particular to a visual processing method of track information.
Background
When the unmanned technology trajectory planning module is developed, developers need to verify whether the planned trajectory is reasonable and effective, and once the planned trajectory is verified to be unreasonable, the developers need to split, check and analyze the information of the planned trajectory, such as the path, the speed, the steering angle and the like, section by section according to a data flow mode, so that the generated analysis workload is very large.
Disclosure of Invention
The present invention aims to provide a method, an electronic device, and a computer-readable storage medium for visualizing track information, which are used for visualizing input track information and providing two processing modes when specifically processing a visualization task, in order to overcome the drawbacks of the prior art: the system comprises a two-dimensional longitudinal display processing mode and a three-dimensional driving process simulation display processing mode, and supports synchronous display of position coordinates, speed and steering angle information corresponding to any point on a display path. By the method and the device, an intuitive data analysis tool can be provided for developers, the analysis workload of the developers can be reduced, and the development efficiency is improved.
In order to achieve the above object, a first aspect of the embodiments of the present invention provides a method for visualizing track information, where the method includes:
acquiring first self-vehicle size information, first track information and corresponding first scene information of a simulated vehicle;
acquiring a first visualization processing instruction;
when the first visualization processing instruction is a curve comparison processing instruction, longitudinally displaying a curve of the path, the speed and the steering angle of the simulated vehicle changing according to time according to the first track information and the first scene information;
and when the first visualization processing instruction is a driving process simulation instruction, performing driving process simulation display processing according to the first vehicle size information, the first track information and the first scene information.
Preferably, the first track information includes a plurality of first track points PiN is more than or equal to i and more than or equal to 1, and N is the total number of track points of the first track information; the first track point PiIncluding the first track point coordinates siFirst track point velocity viFirst track point steering angle thetaiTime t of the first trace pointi(ii) a Time t of adjacent first track pointiThe absolute time difference between the two is equal;
the first scene information comprises a first road information set and a first obstacle information set; the first set of road information comprises a first road coordinate range and one or more first lane information; the first set of obstacle information comprises one or more first obstacle information; the first obstacle information comprises a first obstacle type, a first obstacle size, and first obstacle coordinates;
the first track point coordinate siAnd the coordinate system used by the first road coordinate range and the first obstacle coordinate is a unified coordinate system, and the unified coordinate system is a world coordinate system or a road coordinate system.
Preferably, the longitudinally displaying a time-varying curve of the path, the speed, and the steering angle of the simulated vehicle according to the first trajectory information and the first scene information specifically includes:
constructing a two-dimensional scene plane according to the first road coordinate range of the first scene information, and generating and displaying a corresponding first road plane graph;
and on the first road plane graph, the first track points P are matched with the first track points PiThe first track point coordinate siRecording the corresponding plane coordinate position point as a first path position point and displaying; sequentially connecting all the first path position points, performing curve fitting processing on the connecting lines to generate corresponding first path curves, and displaying the first path curves on the first path plane graph;
the first track point velocity v according to the first track information is right below the first road plane figureiAnd the first track point time tiThe maximum value of (2) is obtained, a two-dimensional coordinate first quadrant graph with the speed as a vertical axis and the time as a horizontal axis is constructed, and a corresponding first speed-time quadrant graph is generated and displayed;
on the first velocity-time quadrant graph, the first track points P are associated with the first track points PiOf the first track point velocity viAnd the first track point time tiMarking the corresponding coordinate point as a first quadrant coordinate point and displaying; sequentially connecting all the first quadrant coordinate points, performing curve fitting processing on connecting lines to generate corresponding first speed-time curves, and displaying the first speed-time curves on the first speed-time quadrant graph;
the first track according to the first track information right below the first velocity-time quadrantPoint steering angle thetaiAnd the first track point time tiConstructing a two-dimensional coordinate first quadrant graph with the steering angle as a vertical axis and time as a horizontal axis, generating and displaying a corresponding first steering angle-time quadrant graph;
on the first steering angle-time quadrant graph, the first track points P are connected with the first track points PiSaid first track point steering angle thetaiAnd the first track point time tiMarking the corresponding coordinate point as a second quadrant coordinate point and displaying; and sequentially connecting all the second quadrant coordinate points, performing curve fitting processing on connecting lines to generate a corresponding first steering angle-time curve, and displaying the first steering angle-time curve on the first steering angle-time quadrant graph.
Further, after the vertical display processing, the method further comprises:
acquiring a real-time position of a mouse to generate a first mouse position;
when the first mouse position is on the first path curve, marking a curve point on the first path curve corresponding to the first mouse position as a first path point; highlighting the first path point on the first path curve, and displaying the corresponding coordinate value of the first path point according to a prompt message display mode;
calculating time information corresponding to the first path point to generate first path point time;
recording a curve point corresponding to the first path point time on the first speed-time curve as a first speed point; highlighting the first speed point on the first speed-time curve, and displaying the corresponding speed value of the first speed point according to a prompt message display mode;
recording a curve point corresponding to the first path point time on the first steering angle-time curve as a first steering angle point; and highlighting the first steering angle point on the first steering angle-time curve, and displaying the corresponding steering angle value of the first steering angle point according to a prompt message display mode.
Preferably, the performing of the driving process simulation display processing according to the first own vehicle size information, the first trajectory information, and the first scene information specifically includes:
constructing and displaying a three-dimensional road scene according to the first road information set;
constructing and displaying a three-dimensional obstacle object in the three-dimensional road scene according to the first obstacle information set;
according to the first vehicle size information, a three-dimensional vehicle object is constructed and displayed in the three-dimensional road scene;
all the first track points P according to the first track informationiThe first track point coordinate siCarrying out corresponding curve fitting processing on the continuous curve of the vehicle running path to generate a second path curve;
all the first track points P according to the first track informationiOf the first track point velocity viAnd the first track point time tiCarrying out corresponding curve fitting processing on a continuous curve of the vehicle movement speed changing according to time to generate a second speed-time curve;
all the first track points P according to the first track informationiSaid first track point steering angle thetaiAnd the first track point time tiCarrying out corresponding curve fitting processing on a continuous curve of the vehicle motion steering according to time change to generate a second steering angle-time curve;
according to the second path curve, a simulated driving path is constructed and displayed for the three-dimensional self-vehicle object in the three-dimensional road scene; performing visual simulation on the vehicle driving process of the three-dimensional self-vehicle object on the simulated driving path in the three-dimensional road scene according to the second speed-time curve and the second steering angle-time curve;
in the visual simulation process, displaying the real-time speed of the vehicle at any time point in the simulation process according to the second speed-time curve; displaying the real-time control state of the vehicle at any time point in the simulation process according to the second speed-time curve; and displaying the real-time steering angle of the vehicle at any time point in the simulation process according to the second steering angle-time curve.
Further, the displaying the real-time speed of the vehicle at any time point in the simulation process according to the second speed-time curve specifically includes:
taking any time point in the simulation process as a current time point; taking the speed value corresponding to the current time point on the longitudinal axis of the second speed-time curve as the real-time speed of the vehicle; and displaying the real-time speed of the vehicle.
Further, the displaying the real-time control state of the vehicle at any time point in the simulation process according to the second speed-time curve specifically includes:
taking any time point in the simulation process as a current time point;
carrying out sub-curve interception processing on the second speed-time curve according to the current time point and a preset interception duration threshold value to generate a corresponding first sub-curve; the starting time point of the first sub-curve is the current time point, and the ending time point is the current time point plus the interception duration threshold;
identifying a curve slope of the first sub-curve; if the slope of the first sub-curve is always regular, setting the vehicle real-time control state as an acceleration state; if the slope of the first sub-curve is always negative, setting the real-time control state of the vehicle as a deceleration state; if the slope of the first sub-curve is always 0, setting the real-time control state of the vehicle to be a constant speed state;
and displaying the real-time control state of the vehicle.
Further, the displaying the real-time steering angle of the vehicle at any time point in the simulation process according to the second steering angle-time curve specifically includes:
taking any time point in the simulation process as a current time point; taking a steering angle value corresponding to the previous time point on a longitudinal axis of the second steering angle-time curve as the real-time steering angle of the vehicle; and displaying the real-time steering angle of the vehicle.
A second aspect of an embodiment of the present invention provides an electronic device, including: a memory, a processor, and a transceiver;
the processor is configured to be coupled to the memory, read and execute instructions in the memory, so as to implement the method steps of the first aspect;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
A third aspect of embodiments of the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a computer, cause the computer to perform the method of the first aspect.
The embodiment of the invention provides a trajectory information visualization processing method, electronic equipment and a computer readable storage medium, which are used for performing visualization processing on input trajectory information and providing two processing modes when a visualization task is specifically processed: the system comprises a two-dimensional longitudinal display processing mode and a three-dimensional driving process simulation display processing mode, and supports synchronous display of position coordinates, speed and steering angle information corresponding to any point on a display path. By the method and the device, an intuitive data analysis tool is provided for developers, the data analysis workload of the developers is greatly reduced, and the development efficiency is improved.
Drawings
Fig. 1 is a schematic diagram of a visualization processing method for track information according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a vertical display layout according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a linkage display effect according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a visualization processing method for track information according to an embodiment of the present invention, as shown in fig. 1, the method mainly includes the following steps:
step 1, acquiring first self-vehicle size information, first track information and corresponding first scene information of a simulated vehicle;
the first vehicle size information comprises the length, width, height and the like of the vehicle;
the first track information includes a plurality of first track points PiN is more than or equal to i and more than or equal to 1, and N is the total number of track points of the first track information; first locus point PiIncluding first track point coordinates siFirst track point velocity viFirst track point steering angle thetaiTime t of the first trace pointi(ii) a Time t of adjacent first track pointiThe absolute time difference between the two is equal;
the first scene information comprises a first road information set and a first obstacle information set;
the first road information set comprises a first road coordinate range and one or more first road information; the first lane information includes one or more first segment information; the first segmentation information comprises a first segmentation width, a first segmentation length, a first segmentation road curvature and a first segmentation coordinate range;
the first set of obstacle information comprises one or more first obstacle information;
the first obstacle information includes a first obstacle type, a first obstacle size, and first obstacle coordinates; a first obstacle type such as a building, animal, person, vehicle, bicycle, motorcycle, traffic sign/sign, etc.; the first obstacle size comprises the information of length, width, height and the like of the obstacle;
first track point coordinate siThe coordinate system used by the first road coordinate range and the first obstacle coordinate is a unified coordinate system, and the unified coordinate system is a world coordinate system or a road coordinate system.
And 2, acquiring a first visualization processing instruction.
Step 3, when the first visualization processing instruction is a curve comparison processing instruction, according to the first track information and the first scene information, longitudinally displaying and processing a curve of the path, the speed and the steering angle of the simulated vehicle changing according to time;
here, when the first visualization processing instruction is a curve comparison processing instruction, the embodiment of the present invention displays a curve of the change of the path, speed, and steering angle information with time in the first trajectory information in a visualization processing manner of an intuitive two-dimensional graph;
the method specifically comprises the following steps: step 31, constructing a two-dimensional scene plane according to the first road coordinate range of the first scene information, and generating and displaying a corresponding first road plane graph;
here, the first road plane figure is defaulted to be a rectangular figure, and the coordinate range limited by four corners of the figure is consistent with the first road coordinate range; the graphic structure of each lane and lane segment in the graphic is determined by the first road information set;
step 32, on the first road plane graph, the first track points P are matched with each otheriFirst track point coordinate siRecording the corresponding plane coordinate position point as a first path position point and displaying; sequentially connecting all the first path position points, performing curve fitting processing on the connecting lines to generate corresponding first path curves, and displaying the first path curves on the first road plane graph;
here, taking fig. 2 as an example of a schematic diagram of a vertical display layout according to an embodiment of the present invention, it can be seen that a display layout relationship between a first road plane graph and a first path curve is shown;
step 33, under the first road plane figure, according to the first track point speed v of the first track informationiMaximum value of (d) and first trace point time tiThe maximum value of (2) is obtained, a two-dimensional coordinate first quadrant graph with the speed as a vertical axis and the time as a horizontal axis is constructed, and a corresponding first speed-time quadrant graph is generated and displayed;
here, taking fig. 2 as an example, the display layout relationship between the first speed-time quadrant graph and the first road plane graph can be seen;
step 34, on the first velocity-time quadrant graph, associating each first locus point P with each first locus pointiFirst track point velocity viAnd a first track point time tiMarking the corresponding coordinate point as a first quadrant coordinate point and displaying; sequentially connecting all the first quadrant coordinate points, performing curve fitting processing on the connecting lines to generate corresponding first speed-time curves, and displaying the first speed-time curves on the first speed-time quadrant graph;
here, taking fig. 2 as an example, the display layout relationship between the first speed-time curve and the first speed-time quadrant graph can be seen;
step 35, under the first speed-time quadrant, according to the first track point steering angle theta of the first track informationiMaximum value of (d) and first trace point time tiConstructing a two-dimensional coordinate first quadrant graph with the steering angle as a vertical axis and time as a horizontal axis, generating and displaying a corresponding first steering angle-time quadrant graph;
here, taking fig. 2 as an example, the display layout relationship between the first steering angle-time quadrant graph and the first speed-time quadrant graph can be seen;
step 36, on the first steering angle-time quadrant graph, associating each first locus point P with each first locus point PiFirst track point steering angle thetaiAnd a first track point time tiMarking the corresponding coordinate point as a second quadrant coordinate point and displaying; connecting all the second quadrant coordinate points in sequence, and performing curve fitting processing on the connecting lines to generateA corresponding first steering angle-time curve, and displaying the first steering angle-time curve on the first steering angle-time quadrant graph.
Here, taking fig. 2 as an example, the display layout relationship between the first steering angle-time curve and the first steering angle-time quadrant graph can be seen.
It should be noted that, after the vertical display processing is completed, an embodiment of the present invention provides a processing method for performing linkage display on associated points on a first path curve, a first speed-time curve, and a first steering angle-time curve according to a real-time position of a mouse, and specifically includes:
step A1, acquiring the real-time position of a mouse to generate a first mouse position;
step A2, when the first mouse position is on the first path curve, marking the curve point on the first path curve corresponding to the first mouse position as the first path point; highlighting the first path point on the first path curve, and displaying the corresponding coordinate value of the first path point according to a prompt message display mode;
step A3, calculating time information corresponding to a first path point, and generating a first path point time;
step A4, marking a curve point corresponding to the first path point time on the first speed-time curve as a first speed point; highlighting the first speed point on the first speed-time curve, and displaying the corresponding speed value of the first speed point according to a prompt message display mode;
step A5, marking curve points on the first steering angle-time curve corresponding to the time of the first path points as first steering angle points; and highlighting the first steering angle point on the first steering angle-time curve, and displaying the corresponding steering angle value of the first steering angle point according to a prompt message display mode.
As can be seen from the above steps A1-A5, the embodiment of the present invention can synchronously display the position coordinates, the speed and the steering angle information corresponding to any point on the display path. Taking fig. 3 as an example of a schematic diagram of a linkage display effect provided by the first embodiment of the present invention, when a first mouse is located on a first path curve, an "X" marker is used to highlight a first path point on the first path curve, and a display manner of an information prompt box is used to display coordinate information of the first path point, that is, a coordinate value of the first path point in the diagram; through steps A3 and a4, a corresponding first speed point on the first speed-time curve can be obtained, so that the first speed point is highlighted on the first speed-time curve by using the "X" marker, and the speed information of the first speed point, namely the speed value of the first speed point in the figure, is displayed by using the display mode of the information prompt box; through steps A3 and a4, a first turning corner point corresponding to the first turning corner-time curve can be obtained, so that the first turning corner point is highlighted by using an "X" marker on the first turning corner-time curve, and the turning angle information of the first turning corner point, that is, the turning angle value of the first turning corner point in the figure, is displayed by using the display mode of the information prompt box. Therefore, developers can obtain visual track information and can also obtain coordinates, speeds and steering angle values corresponding to all track points by sliding a mouse on the first path curve; therefore, developers can visually and quickly judge the overall situation of the track information and conveniently check the data of each track point of the track information one by one through the embodiment of the invention.
Step 4, when the first visualization processing instruction is a driving process simulation instruction, carrying out driving process simulation display processing according to the first vehicle size information, the first track information and the first scene information;
the method specifically comprises the following steps: step 41, constructing and displaying a three-dimensional road scene according to the first road information set;
performing three-dimensional space construction based on the first road coordinate range coordinates of the first road information set, and performing corresponding lane construction in the three-dimensional space based on one or more first lane information of the first road information set;
step 42, constructing and displaying a three-dimensional obstacle object in the three-dimensional road scene according to the first obstacle information set;
selecting a corresponding type three-dimensional template such as a three-dimensional template of a building, an animal, a person, a vehicle, a bicycle, a motorcycle, a traffic sign/marker and the like based on a first obstacle type of each first obstacle information in a first obstacle information set, initializing a corresponding three-dimensional obstacle object for each first obstacle information, setting the size of the three-dimensional obstacle object according to the size of the corresponding first obstacle, and placing the three-dimensional obstacle object with the set size into a corresponding position in a three-dimensional road scene according to corresponding first obstacle coordinates;
step 43, constructing and displaying a three-dimensional self-vehicle object in the three-dimensional road scene according to the first self-vehicle size information;
initializing a corresponding three-dimensional self-vehicle object for the simulated vehicle based on a vehicle three-dimensional template, setting the size of the three-dimensional self-vehicle object according to corresponding first self-vehicle size information, and placing the three-dimensional self-vehicle object with the set size into a corresponding position in a three-dimensional road scene according to coordinate information of a1 st track point of first track information;
step 44, all the first track points P according to the first track informationiFirst track point coordinate siCarrying out corresponding curve fitting processing on the continuous curve of the vehicle running path to generate a second path curve;
step 45, all the first track points P according to the first track informationiFirst track point velocity viAnd a first track point time tiCarrying out corresponding curve fitting processing on a continuous curve of the vehicle movement speed changing according to time to generate a second speed-time curve;
step 46, all first track points P according to the first track informationiFirst track point steering angle thetaiAnd a first track point time tiCarrying out corresponding curve fitting processing on a continuous curve of the vehicle motion steering according to time change to generate a second steering angle-time curve;
step 47, constructing and displaying a simulated driving path for the three-dimensional self-vehicle object in the three-dimensional road scene according to the second path curve; carrying out visual simulation on the vehicle running process of the three-dimensional self-vehicle object on the simulated running path in the three-dimensional road scene according to the second speed-time curve and the second steering angle-time curve;
the visual simulation can be realized by adopting a three-dimensional simulation technology, and the motion state of the track can be more intuitively displayed to developers through the visual simulation;
step 48, displaying the real-time speed of the vehicle at any time point in the simulation process according to a second speed-time curve in the visual simulation process; displaying the real-time control state of the vehicle at any time point in the simulation process according to the second speed-time curve; displaying the real-time steering angle of the vehicle at any time point in the simulation process according to the second steering angle-time curve;
the real-time control state of the vehicle comprises an acceleration state, a deceleration state and a constant speed state;
here, when performing three-dimensional simulation, the embodiment of the present invention may also display the real-time speed, the control state, and the steering angle of the simulated vehicle;
the method specifically comprises the following steps: step 481, displaying the real-time speed of the vehicle at any time point in the simulation process according to the second speed-time curve;
the method specifically comprises the following steps: taking any time point in the simulation process as a current time point; taking the speed value corresponding to the current time point on the longitudinal axis of the second speed-time curve as the real-time speed of the vehicle; displaying the real-time speed of the vehicle;
step 482, displaying the real-time control state of the vehicle at any time point in the simulation process according to a second speed-time curve;
the method specifically comprises the following steps: step 4821, using any time point in the simulation process as the current time point;
step 4822, according to the current time point and a preset clipping duration threshold, performing sub-curve clipping processing on the second speed-time curve to generate a corresponding first sub-curve; the starting time point of the first sub-curve is the current time point, and the ending time point is the current time point plus the interception duration threshold;
step 4823, identifying the slope of the first sub-curve; if the slope of the first sub-curve is always regular, setting the vehicle real-time control state as an acceleration state; if the slope of the first sub-curve is always negative, setting the real-time control state of the vehicle as a deceleration state; if the slope of the first sub-curve is always 0, setting the real-time control state of the vehicle to be a constant speed state;
4824 displaying the real-time control status of the vehicle;
step 483, displaying the real-time steering angle of the vehicle at any time point in the simulation process according to the second steering angle-time curve;
the method specifically comprises the following steps: taking any time point in the simulation process as a current time point; taking a steering angle value corresponding to the previous time point on the longitudinal axis of the second steering angle-time curve as a real-time steering angle of the vehicle; and displaying the real-time steering angle of the vehicle.
Fig. 4 is a schematic structural diagram of an electronic device according to a second embodiment of the present invention. The electronic device may be the terminal device or the server, or may be a terminal device or a server connected to the terminal device or the server and implementing the method according to the embodiment of the present invention. As shown in fig. 4, the electronic device may include: a processor 301 (e.g., a CPU), a memory 302, a transceiver 303; the transceiver 303 is coupled to the processor 301, and the processor 301 controls the transceiving operation of the transceiver 303. Various instructions may be stored in memory 302 for performing various processing functions and implementing the processing steps described in the foregoing method embodiments. Preferably, the electronic device according to an embodiment of the present invention further includes: a power supply 304, a system bus 305, and a communication port 306. The system bus 305 is used to implement communication connections between the elements. The communication port 306 is used for connection communication between the electronic device and other peripherals.
The system bus 305 mentioned in fig. 4 may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The system bus may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for realizing communication between the database access device and other equipment (such as a client, a read-write library and a read-only library). The Memory may include a Random Access Memory (RAM) and may also include a Non-Volatile Memory (Non-Volatile Memory), such as at least one disk Memory.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), a Graphics Processing Unit (GPU), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It should be noted that the embodiment of the present invention also provides a computer-readable storage medium, which stores instructions that, when executed on a computer, cause the computer to execute the method and the processing procedure provided in the above-mentioned embodiment.
The embodiment of the present invention further provides a chip for executing the instructions, where the chip is configured to execute the processing steps described in the foregoing method embodiment.
The embodiment of the invention provides a trajectory information visualization processing method, electronic equipment and a computer readable storage medium, which are used for performing visualization processing on input trajectory information and providing two processing modes when a visualization task is specifically processed: the system comprises a two-dimensional longitudinal display processing mode and a three-dimensional driving process simulation display processing mode, and supports synchronous display of position coordinates, speed and steering angle information corresponding to any point on a display path. By the method and the device, an intuitive data analysis tool is provided for developers, the data analysis workload of the developers is greatly reduced, and the development efficiency is improved.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. A method for visually processing track information is characterized by comprising the following steps:
acquiring first self-vehicle size information, first track information and corresponding first scene information of a simulated vehicle;
acquiring a first visualization processing instruction;
when the first visualization processing instruction is a curve comparison processing instruction, longitudinally displaying a curve of the path, the speed and the steering angle of the simulated vehicle changing according to time according to the first track information and the first scene information;
when the first visualization processing instruction is a driving process simulation instruction, driving process simulation display processing is carried out according to the first vehicle size information, the first track information and the first scene information;
wherein the first track information includes a plurality of first track points PiN is more than or equal to i and more than or equal to 1, and N is the total number of track points of the first track information; the first track point PiIncluding the first track point coordinates siFirst track point velocity viFirst track point steering angle thetaiTime t of the first trace pointi(ii) a Time t of adjacent first track pointiThe absolute time difference between the two is equal;
the first scene information comprises a first road information set and a first obstacle information set; the first set of road information comprises a first road coordinate range and one or more first lane information; the first set of obstacle information comprises one or more first obstacle information; the first obstacle information comprises a first obstacle type, a first obstacle size, and first obstacle coordinates;
the first track point coordinate siThe coordinate system used by the first road coordinate range and the first obstacle coordinate is a unified coordinate system, and the unified coordinate system is a world coordinate system or a road coordinate system;
the longitudinally displaying a time-varying curve of the path, the speed and the steering angle of the simulated vehicle according to the first track information and the first scene information specifically includes:
constructing a two-dimensional scene plane according to the first road coordinate range of the first scene information, and generating and displaying a corresponding first road plane graph;
and on the first road plane graph, the first track points P are matched with the first track points PiThe first track point coordinate siThe corresponding plane coordinate position points are recorded asA first path position point is displayed; sequentially connecting all the first path position points, performing curve fitting processing on the connecting lines to generate corresponding first path curves, and displaying the first path curves on the first path plane graph;
the first track point velocity v according to the first track information is right below the first road plane figureiAnd the first track point time tiThe maximum value of (2) is obtained, a two-dimensional coordinate first quadrant graph with the speed as a vertical axis and the time as a horizontal axis is constructed, and a corresponding first speed-time quadrant graph is generated and displayed;
on the first velocity-time quadrant graph, the first track points P are associated with the first track points PiOf the first track point velocity viAnd the first track point time tiMarking the corresponding coordinate point as a first quadrant coordinate point and displaying; sequentially connecting all the first quadrant coordinate points, performing curve fitting processing on connecting lines to generate corresponding first speed-time curves, and displaying the first speed-time curves on the first speed-time quadrant graph;
a first track point steering angle theta according to the first track information right below the first velocity-time quadrantiAnd the first track point time tiConstructing a two-dimensional coordinate first quadrant graph with the steering angle as a vertical axis and time as a horizontal axis, generating and displaying a corresponding first steering angle-time quadrant graph;
on the first steering angle-time quadrant graph, the first track points P are connected with the first track points PiSaid first track point steering angle thetaiAnd the first track point time tiMarking the corresponding coordinate point as a second quadrant coordinate point and displaying; and sequentially connecting all the second quadrant coordinate points, performing curve fitting processing on connecting lines to generate a corresponding first steering angle-time curve, and displaying the first steering angle-time curve on the first steering angle-time quadrant graph.
2. The method for visually processing the track information according to claim 1, wherein after the vertical display processing, the method further comprises:
acquiring a real-time position of a mouse to generate a first mouse position;
when the first mouse position is on the first path curve, marking a curve point on the first path curve corresponding to the first mouse position as a first path point; highlighting the first path point on the first path curve, and displaying the corresponding coordinate value of the first path point according to a prompt message display mode;
calculating time information corresponding to the first path point to generate first path point time;
recording a curve point corresponding to the first path point time on the first speed-time curve as a first speed point; highlighting the first speed point on the first speed-time curve, and displaying the corresponding speed value of the first speed point according to a prompt message display mode;
recording a curve point corresponding to the first path point time on the first steering angle-time curve as a first steering angle point; and highlighting the first steering angle point on the first steering angle-time curve, and displaying the corresponding steering angle value of the first steering angle point according to a prompt message display mode.
3. The method for visualizing the trajectory information according to claim 1, wherein the performing of the driving process simulation display processing according to the first own vehicle size information, the first trajectory information, and the first scene information specifically includes:
constructing and displaying a three-dimensional road scene according to the first road information set;
constructing and displaying a three-dimensional obstacle object in the three-dimensional road scene according to the first obstacle information set;
according to the first vehicle size information, a three-dimensional vehicle object is constructed and displayed in the three-dimensional road scene;
all the first track points P according to the first track informationiThe first track point coordinate siCarrying out corresponding curve fitting processing on the continuous curve of the vehicle running path to generate a second path curve;
all the first track points P according to the first track informationiOf the first track point velocity viAnd the first track point time tiCarrying out corresponding curve fitting processing on a continuous curve of the vehicle movement speed changing according to time to generate a second speed-time curve;
all the first track points P according to the first track informationiSaid first track point steering angle thetaiAnd the first track point time tiCarrying out corresponding curve fitting processing on a continuous curve of the vehicle motion steering according to time change to generate a second steering angle-time curve;
according to the second path curve, a simulated driving path is constructed and displayed for the three-dimensional self-vehicle object in the three-dimensional road scene; performing visual simulation on the vehicle driving process of the three-dimensional self-vehicle object on the simulated driving path in the three-dimensional road scene according to the second speed-time curve and the second steering angle-time curve;
in the visual simulation process, displaying the real-time speed of the vehicle at any time point in the simulation process according to the second speed-time curve; displaying the real-time control state of the vehicle at any time point in the simulation process according to the second speed-time curve; and displaying the real-time steering angle of the vehicle at any time point in the simulation process according to the second steering angle-time curve.
4. The method for visually processing the trajectory information according to claim 3, wherein the displaying the real-time speed of the vehicle at any time point in the simulation process according to the second speed-time curve specifically comprises:
taking any time point in the simulation process as a current time point; taking the speed value corresponding to the current time point on the longitudinal axis of the second speed-time curve as the real-time speed of the vehicle; and displaying the real-time speed of the vehicle.
5. The method for visually processing the trajectory information according to claim 3, wherein the displaying the real-time control state of the vehicle at any time point in the simulation process according to the second speed-time curve specifically comprises:
taking any time point in the simulation process as a current time point;
carrying out sub-curve interception processing on the second speed-time curve according to the current time point and a preset interception duration threshold value to generate a corresponding first sub-curve; the starting time point of the first sub-curve is the current time point, and the ending time point is the current time point plus the interception duration threshold;
identifying a curve slope of the first sub-curve; if the slope of the first sub-curve is always regular, setting the vehicle real-time control state as an acceleration state; if the slope of the first sub-curve is always negative, setting the real-time control state of the vehicle as a deceleration state; if the slope of the first sub-curve is always 0, setting the real-time control state of the vehicle to be a constant speed state;
and displaying the real-time control state of the vehicle.
6. The method for visually processing the trajectory information according to claim 3, wherein the displaying the real-time steering angle of the vehicle at any time point in the simulation process according to the second steering angle-time curve specifically comprises:
taking any time point in the simulation process as a current time point; taking a steering angle value corresponding to the previous time point on a longitudinal axis of the second steering angle-time curve as the real-time steering angle of the vehicle; and displaying the real-time steering angle of the vehicle.
7. An electronic device, comprising: a memory, a processor, and a transceiver;
the processor is used for being coupled with the memory, reading and executing the instructions in the memory to realize the method steps of any one of claims 1-6;
the transceiver is coupled to the processor, and the processor controls the transceiver to transmit and receive messages.
8. A computer-readable storage medium having stored thereon computer instructions which, when executed by a computer, cause the computer to perform the method of any of claims 1-6.
CN202111495388.3A 2021-12-09 2021-12-09 Visual processing method of track information Active CN113885771B (en)

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