CN114779665A - Automatic parking simulation test method and device and readable storage medium - Google Patents
Automatic parking simulation test method and device and readable storage medium Download PDFInfo
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Abstract
The present disclosure relates to the field of parking test technologies, and in particular, to an automatic parking simulation test method and apparatus, and a readable storage medium. The method comprises the following steps: responding to a received parking simulation test request aiming at a target vehicle, and acquiring a target vehicle simulation model and a parking simulation scene; importing the target vehicle simulation model and the parking simulation scene in a preset simulation interface to simulate the parking process of the target vehicle in the parking simulation scene, wherein the simulation interface is pre-constructed in a Web page by using a three.js engine; and displaying the parking process of the target vehicle in the parking simulation scene in three dimensions in the simulation interface. Therefore, the parking process of the vehicle can be displayed in a three-dimensional mode, so that technicians can conveniently and visually analyze the parking process, and the efficiency of testing the performance of the automatic parking system is improved.
Description
Technical Field
The present disclosure relates to the field of parking test technologies, and in particular, to an automatic parking simulation test method and apparatus, and a readable storage medium.
Background
With the development of technology, the attention on automatic Driving is getting higher, and the advanced Driving assistance system adas (advanced Driving assistance system) belongs to automatic Driving of the level of L2 (partial automatic Driving), which is a basic guarantee of an automatic Driving scheme. An automatic Parking assist system apa (auto Parking assist) belongs to an automatic driving technology of the system ADAS, and can automatically identify a Parking space through a vehicle-mounted sensor and automatically complete a Parking and warehousing process.
Because the parking scene of the automatic driving vehicle mainly depends on the influence of factors such as parking space lines, side obstacles, side parked vehicles, a rear limiting device and the like, the parking scene is more complex and has higher randomness. Therefore, in order to ensure the performance of the automatic parking system, a series of tests are required to be performed on the parking system in different parking scenarios before the automatic parking system is put into use.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides an automatic parking simulation test method, an automatic parking simulation test device, and a readable storage medium.
According to a first aspect of the embodiments of the present disclosure, there is provided an automatic parking simulation test method, including:
in response to receiving a parking simulation test request for a target vehicle, acquiring a target vehicle simulation model and a parking simulation scene;
importing the target vehicle simulation model and the parking simulation scene in a preset simulation interface to simulate the parking process of the target vehicle in the parking simulation scene, wherein the simulation interface is pre-constructed in a Web page by using a three.js engine; and
and displaying the parking process of the target vehicle in the parking simulation scene in a three-dimensional manner in the simulation interface.
Optionally, the method further comprises:
acquiring simulation data, wherein the simulation data comprises parking process data and parking result data of the target vehicle in the parking simulation scene;
and generating an editable test report corresponding to the parking simulation scene according to the parking process data and the parking result data.
Optionally, the parking simulation scenario includes a plurality of scenarios, and the method further includes:
determining a simulation type according to the parking simulation test request, wherein the simulation type is an online simulation type or an offline simulation type;
under the condition that the simulation type is the off-line simulation type, determining whether the parking process of the target vehicle in the parking simulation scene is abnormal or not according to a test report corresponding to the parking simulation scene aiming at each parking simulation scene, and under the condition that the parking simulation scene is abnormal, determining the parking simulation scene as a target parking simulation scene;
the three-dimensional display of the parking process of the target vehicle in the parking simulation scene in the simulation interface comprises the following steps:
and displaying the parking process of the target vehicle in the target parking simulation scene in a three-dimensional manner in the simulation interface.
Optionally, the target vehicle simulation model is constructed by:
in response to receiving a request to build a target vehicle simulation model, building a corresponding three-dimensional simulation model for each controllable component of the target vehicle and building a corresponding three-dimensional simulation model for an uncontrollable component;
and constructing a target vehicle simulation model according to the three-dimensional simulation model corresponding to the uncontrollable component and the three-dimensional simulation model corresponding to each controllable component.
Optionally, the method further comprises:
js engine is operable to store the three-dimensional simulation model and/or the target vehicle simulation model in a format that is importable by the three.
Optionally, the parking simulation scenario is constructed by:
a, creating a scene object in a parking scene editing interface by using a three.js engine, and adding a plane for simulating the ground in the scene object;
building an environment object simulation model on the plane by using a built-in geometry of the three.js engine to obtain a parking simulation scene, wherein the environment object comprises a parking space;
and saving the parking simulation scene in a format which can be imported by the three.
Optionally, the environmental object further comprises a dynamic barrier; the building of the environmental object simulation model on the plane by using the built-in geometry of the three.js engine to obtain the parking simulation scene comprises the following steps:
and constructing an environmental object simulation model on the plane by utilizing a built-in geometry of the three.js engine, and adding a controller for controlling the motion of the dynamic barrier to obtain a parking simulation scene.
According to a second aspect of the embodiments of the present disclosure, there is provided an automatic parking simulation test apparatus, including:
the system comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is configured to respond to a parking simulation test request aiming at a target vehicle, and obtain a target vehicle simulation model and a parking simulation scene;
the import module is configured to import the target vehicle simulation model and the parking simulation scene in a preset simulation interface so as to simulate a parking process of the target vehicle in the parking simulation scene, wherein the simulation interface is pre-constructed in a Web page by using a three.js engine; and
the display module is configured to display a parking process of the target vehicle in the parking simulation scene in a three-dimensional manner in the simulation interface.
Optionally, the apparatus further comprises:
the second obtaining module is configured to obtain simulation data, and the simulation data comprises parking process data and parking result data of the target vehicle in the parking simulation scene;
and the generating module is configured to generate an editable test report corresponding to the parking simulation scene according to the parking process data and the parking result data.
Optionally, there are a plurality of parking simulation scenarios, and the apparatus further includes:
the first determining module is configured to determine a simulation type according to the parking simulation test request, wherein the simulation type is an online simulation type or an offline simulation type;
the second determining module is configured to determine, for each parking simulation scenario, whether a parking process of the target vehicle in the parking simulation scenario is abnormal according to a test report corresponding to the parking simulation scenario when the simulation type is the offline simulation type, and determine the parking simulation scenario as a target parking simulation scenario when the parking simulation scenario is abnormal;
the display module includes:
the display sub-module is configured to display a parking process of the target vehicle in the target parking simulation scene in a three-dimensional manner in the simulation interface.
Optionally, the apparatus further comprises:
a first build module configured to, in response to receiving a request to build a simulation model of a target vehicle, build a respective three-dimensional simulation model for each controllable component of the target vehicle and a respective three-dimensional simulation model for an uncontrollable component;
and the second construction module is configured to construct a target vehicle simulation model according to the three-dimensional simulation model corresponding to the uncontrollable component and the three-dimensional simulation model corresponding to each controllable component.
Optionally, the apparatus further comprises:
a first saving module configured to save the three-dimensional simulation model and/or the target vehicle simulation model in a format that the three.
Optionally, the apparatus further comprises:
an adding module configured to create a scene object in a parking scene editing interface by using a three.js engine, and add a plane for simulating the ground in the scene object;
a third building module configured to build an environment object simulation model on the plane by using a built-in geometry of the three.js engine to obtain a parking simulation scene, wherein the environment object comprises a parking space;
a second saving module configured to save the parking simulation scenario in a format that the three.
Optionally, the environmental object further comprises a dynamic barrier;
the third building module is configured to: and constructing an environment object simulation model on the plane by utilizing a built-in geometry of the three.js engine, and adding a controller for controlling the motion of the dynamic barrier to obtain a parking simulation scene.
According to a third aspect of the embodiments of the present disclosure, there is provided an automatic parking simulation test apparatus, including:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
in response to receiving a parking simulation test request for a target vehicle, acquiring a target vehicle simulation model and a parking simulation scene;
importing the target vehicle simulation model and the parking simulation scene in a preset simulation interface to simulate the parking process of the target vehicle in the parking simulation scene, wherein the simulation interface is pre-constructed in a Web page by using a three.js engine; and
and displaying the parking process of the target vehicle in the parking simulation scene in a three-dimensional manner in the simulation interface.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the automatic parking simulation test method provided by the first aspect of the present disclosure.
By adopting the technical scheme, the simulation interface is constructed in the Web page by utilizing the three.js engine, and the parking process of the target vehicle in the parking simulation scene can be displayed in three dimensions in the simulation interface under the condition that the target vehicle simulation model and the parking simulation scene are led into the simulation interface to simulate the parking process of the target vehicle in the parking simulation scene. Therefore, the parking process of the vehicle can be displayed in a three-dimensional mode, so that technicians can conveniently and visually analyze the parking process, and the efficiency of testing the performance of the automatic parking system is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart illustrating a method for automated parking simulation testing in accordance with an exemplary embodiment.
FIG. 2 is a schematic diagram illustrating a target vehicle simulation model according to an exemplary embodiment.
FIG. 3 is a flowchart illustrating a method of constructing a parking simulation scenario in accordance with an exemplary embodiment.
Fig. 4 is a block diagram illustrating an automated parking simulation test setup, according to an exemplary embodiment.
FIG. 5 is a block diagram illustrating a first apparatus for automated parking simulation testing in accordance with an exemplary embodiment.
FIG. 6 is a block diagram illustrating a second apparatus for automated parking simulation testing in accordance with an exemplary embodiment.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
It should be noted that all actions of acquiring signals, information or data in the present application are performed under the premise of complying with the corresponding data protection regulation policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
As described in the background, in order to guarantee the performance of the automatic parking system, a series of tests are required to be performed on the parking system in different parking scenarios before the automatic parking system is put into use. At present, two test schemes for an automatic parking system are mainly adopted, wherein the first scheme is real vehicle test, and in the real vehicle test, a tester tests the automatic parking system in a real vehicle under various real parking scenes; the second one is simulation test, which combines the simulation vehicle and the simulation scene to realize the simulation test. However, in the real vehicle test, the test cost is high, the parking scene of the test is single, and the like, so that the automatic parking system cannot be effectively tested. Therefore, more and more enterprises perform simulation tests on the automatic parking system before the automatic parking system is put into use.
For example, in The related art, SIL (Software in-The-Loop) Software is usually adopted to quickly verify The performance of an automatic parking system in a Loop test, that is, scene building is performed in a Software simulation environment, so as to verify The performance of The automatic parking system. However, in the related art, although the software automation test can be implemented to a certain extent, the simulation data of the system cannot be visually displayed in a 3D effect, which is not beneficial to the intuitive analysis of the parking process by technicians, and results in low efficiency of the performance test of the automatic parking system.
In view of this, the present disclosure provides an automatic parking simulation test method, an automatic parking simulation test device, and a readable storage medium, which can perform three-dimensional display on a parking process of a vehicle, facilitate a technician to perform visual analysis on the parking process, and improve efficiency of a performance test on an automatic parking system.
FIG. 1 is a flow chart illustrating a method for automated parking simulation testing in accordance with an exemplary embodiment. As shown in fig. 1, the method includes the following steps.
In step S11, in response to receiving a parking simulation test request for the target vehicle, a target vehicle simulation model and a parking simulation scenario are obtained.
In the present disclosure, the target vehicle simulation model is a virtual simulation model created from the target vehicle. For example, the target vehicle simulation model may be a three-dimensional model of the target vehicle constructed using three-dimensional modeling software such as Blender. When the target vehicle simulation model is constructed, the target vehicle simulation model is constructed according to the sizes of all parts of the real target vehicle and according to a vehicle dynamic model.
The parking simulation scenario is a virtual simulation scenario created with reference to an actual parking scenario. The parking simulation scene at least comprises a simulation model for simulating an actual parking space, and the simulation model is created according to the size and the shape of the actual parking space.
It should be understood that the vehicle simulation model and the parking simulation scenario may be created in advance, or may be created when a parking simulation test request for a target vehicle is received, which is not specifically limited by the present disclosure. In addition, the specific creating manner of the target vehicle simulation model and the parking simulation scenario will be described below, and details are not repeated here.
In step S12, a target vehicle simulation model and a parking simulation scenario are imported into a preset simulation interface to simulate a parking process of the target vehicle in the parking simulation scenario.
In the present disclosure, the simulation interface is pre-constructed in the Web page using the three. Illustratively, the simulation interface is first designed using HTML (Hyper Text Markup Language) and CSS (Cascading Style Sheets). Where HTML is used to indicate how the display should show the web page, CSS is used to beautify the display effect defined by HTML. The designed simulation interface is responsible for visualizing the simulation flow of the parking test, wherein the visualized content comprises but is not limited to: vehicle travel path, speed, acceleration, steering wheel angle, front wheel angle, throttle effort, etc. In addition, a toolbar may be displayed on the simulation interface, and the toolbar may include, but is not limited to: starting simulation function key, ending simulation function key, function key for adjusting camera observation direction, simulation type selection function key, function key for switching to scene editing interface, and the like. It should be understood that in the HTML < body > tag of the simulation interface, a < canvas > tag is added for use as a container for the three.
For example, in a case where the simulation interface includes a start simulation function key, it is determined that a parking simulation test request for the target vehicle is received when it is detected that the start simulation function key is touched.
In one possible embodiment, a scene object is created in the simulation interface by using the three.js engine, and in step S12, the target vehicle simulation model and the parking simulation scene are imported into the simulation interface, which may be adding the target vehicle simulation model and the parking simulation scene to the scene object, so as to realize the rendering of the target vehicle simulation model and the parking simulation scene. For example, the target vehicle simulation model and the parking simulation scenario may be imported into the simulation interface via a glTF Loader (glTF Loader) in three.
In step S13, a parking process of the target vehicle in the parking simulation scene is displayed in three dimensions in the simulation interface.
It should be understood that in the present disclosure, the back end of the simulation platform is used to simulate automated parking. For example, after a target vehicle simulation model and a parking simulation scene are imported into a simulation interface, a rear-end computing engine is started, and scene data corresponding to the parking simulation scene and vehicle data corresponding to the target vehicle simulation scene are sent to the computing engine, so that the computing engine computes driving parameters (hereinafter referred to as simulation data) of a target vehicle in the parking simulation scene, and feeds the simulation data back to the front end of the simulation platform for display. The simulation data may include, but is not limited to: the vehicle running path, speed, acceleration, steering wheel angle, front wheel angle, accelerator force, whether the vehicle is parked to a parking space successfully or not and the like.
In addition, in the present disclosure, the parking process of the target vehicle may be three-dimensionally displayed in real time during the simulation, or the parking process of the target vehicle may be three-dimensionally displayed after the simulation is finished, which is not particularly limited in the present disclosure.
By adopting the technical scheme, the simulation interface is constructed in the Web page by utilizing the three.js engine, and the parking process of the target vehicle in the parking simulation scene can be displayed in three dimensions in the simulation interface under the condition that the target vehicle simulation model and the parking simulation scene are led into the simulation interface to simulate the parking process of the target vehicle in the parking simulation scene. Therefore, the parking process of the vehicle can be displayed in a three-dimensional mode, so that technicians can conveniently and visually analyze the parking process, and the efficiency of testing the performance of the automatic parking system is improved.
In a possible mode, after the front end of the simulation platform acquires simulation data from a computing engine, an editable test report corresponding to a parking simulation scene is generated according to parking process data and parking result data. The simulation data may include parking process data and parking result data of the target vehicle in a parking simulation scene, the parking process data may include a vehicle running path, a speed, an acceleration, a steering wheel angle, a front wheel angle, an accelerator force and the like, and the parking result data includes data for indicating whether the target vehicle is successfully parked in a parking space.
For example, the front end of the simulation platform may automatically generate a test report from the acquired simulation data. The test report may be an HTML file that may be opened in any browser.
In addition, a toolbar for human-computer interaction may be included in the simulation report in addition to the parking process data and the parking result data. The toolbar can include function keys for amplifying and moving the content in the simulation report, displaying data at the suspended position of the mouse, exporting the data into a picture, exporting all data and the like, and accordingly, the operations of amplifying and moving the content in the simulation report, displaying the data at the suspended position of the mouse, exporting the data into the picture, exporting all data and the like can be achieved through touch control of the function keys in the toolbar.
In practical applications, when testing the performance of the automatic parking system of a vehicle, in order to improve the reliability of the performance test of the automatic parking system, the performance of the automatic parking system of the vehicle is usually tested by using a plurality of parking simulation scenes. Namely, the parking process of the target vehicle under a plurality of parking simulation scenes is simulated in sequence on the simulation interface. Correspondingly, according to the above manner, for each parking simulation scene, the parking process data and the parking result data of the target vehicle in the parking simulation scene can be obtained, and the test report corresponding to the parking simulation scene is generated.
In one embodiment, the parking simulation test request may include a simulation type. Wherein, the simulation type is an online simulation type or an offline simulation type. It should be appreciated that for online simulation, the back-end of the simulation platform (i.e., the compute engine) feeds the results of its computation (i.e., the simulation data) to the front-end of the simulation platform via a transport protocol, which displays the simulation data in real-time as it is received. For off-line simulation, under the condition that a plurality of parking simulation scenes need to be simulated, the back end (namely, a computing engine) of the simulation platform can perform distributed multi-thread simulation based on the plurality of parking simulation scenes to accelerate the simulation speed, and when the simulation is finished, the simulation data corresponding to each parking simulation scene is sent to the front end of the simulation platform. Therefore, the front end of the simulation platform can select the parking process of the target vehicle under a partial or whole parking simulation scene to be displayed in a three-dimensional mode according to actual requirements.
Illustratively, the emulation interface includes a start emulation function button and an emulation type select function button. The tester can touch the simulation type selection function key and the simulation starting function key according to the requirement, and accordingly, the simulation platform can receive the parking simulation test request comprising the simulation type.
In this embodiment, when a parking simulation test request is received, a simulation type is determined according to the parking simulation test request, and when the simulation type is an offline simulation type, for each parking simulation scenario, whether a parking process of a target vehicle in the parking simulation scenario is abnormal or not is determined according to a test report corresponding to the parking simulation scenario, and when the parking simulation scenario is abnormal, the parking simulation scenario is determined as a target parking simulation scenario.
For example, if the parking result data in the test report corresponding to the parking simulation scenario is data representing that the vehicle is not successfully parked in the parking space, it is determined that the parking process of the target vehicle in the parking simulation scenario is abnormal, and the parking simulation scenario is determined as the target parking simulation scenario. Accordingly, the specific implementation of step S13 in fig. 1 is: and displaying the parking process of the target vehicle in the target parking simulation scene in a three-dimensional manner in the simulation interface.
By adopting the technical scheme, the off-line simulation can be carried out under the condition that a plurality of parking simulation scenes exist, and the simulation speed is improved by adopting a parallel computing mode. And after the simulation is finished, according to the test report corresponding to each parking simulation scene, the target parking simulation scene with the abnormal target vehicle in the parking process is determined, and then the parking process of the target vehicle in the parking simulation scene is only displayed in three dimensions on the simulation interface, so that technicians can analyze the parking process of the target vehicle in the abnormal parking simulation scene in a special way, the display workload and the follow-up analysis workload of the technicians are effectively reduced, and the flexibility of the parking process display is improved.
It should be understood that, when the simulation type is the online simulation type, in addition to displaying the parking process of the target vehicle in the parking simulation scene in real time in the simulation process, the abnormal target parking simulation scene may be determined according to the test report corresponding to the parking simulation scene, and the parking process of the target vehicle in the target parking simulation scene is played back, so that a tester can analyze the parking process of the target vehicle in the abnormal parking simulation scene to determine the cause of the abnormality.
The following describes a construction method of the target vehicle simulation model.
In order to make the effect of the target vehicle simulation model performing the above-described action as consistent as possible with the effect of the real vehicle performing the action in consideration of the actions of acceleration, deceleration, steering, etc. that may occur during actual parking of the vehicle, in the present disclosure, first, in response to receiving a request for building a target vehicle simulation model, a corresponding three-dimensional simulation model is built for each controllable component of the target vehicle, and a corresponding three-dimensional simulation model is built for an uncontrollable component. Illustratively, the controllable components are movable components, and the uncontrollable components are fixed and immovable components, that is, the movable components (such as wheels, steering wheel, brake, door, etc.) in the vehicle are respectively modeled to obtain a three-dimensional simulation model corresponding to each controllable component. A three-dimensional simulation model is constructed for immovable parts of a vehicle (such as a vehicle body, a power battery, a seat and the like).
And then, constructing a target vehicle simulation model according to the three-dimensional simulation model corresponding to the uncontrollable component and the three-dimensional simulation model corresponding to each controllable component. Illustratively, the three-dimensional simulation model is used to assemble a three-dimensional model vehicle as shown in fig. 2, namely, a target vehicle simulation model.
By adopting the technical scheme, the corresponding three-dimensional simulation model is respectively constructed for each controllable component of the target vehicle, so that the action execution effect of the target vehicle simulation model is consistent with that of a real vehicle when the target vehicle simulation model executes the action as much as possible, and the authenticity and the reliability of the constructed target vehicle simulation model are improved.
Further, to ensure that the target vehicle simulation model can be accurately imported into the simulation interface built by the three.js engine, the three-dimensional simulation model and/or the target vehicle simulation model may be saved in a format that is importable by the three.js engine. Illustratively, the three-dimensional simulation model and/or the target vehicle simulation model may be saved as a glTF format file importable by the three.
By adopting the technical scheme, the three-dimensional simulation model and/or the target vehicle simulation model of the target vehicle component are/is stored, so that the three-dimensional simulation model and/or the target vehicle simulation model of the target vehicle component can be reused subsequently, and the workload of rebuilding the target vehicle simulation model is reduced.
Next, a description will be given of a construction method of a parking simulation scene.
FIG. 3 is a flowchart illustrating a method of constructing a parking simulation scenario in accordance with an exemplary embodiment. As shown in fig. 3, the method may include the following steps.
In step S31, a scene object is created in the parking scene editing interface using the three.
It should be appreciated that the parking scene editing interface is first designed using HTML and CSS, and is created using a library of lightweight graphical user interfaces, such as dat. The parking scene editing interface has the functions of building a new parking space, modifying parking space information, creating a static obstacle, creating a dynamic obstacle, modifying illumination conditions and the like. Likewise, in the < body > tag of the HTML of the parking scene editing interface, a < canvas > tag is added for a container as a visualization of three.
After the scene editing interface is created, a scene object is created in the parking scene editing interface by using a three. In a possible way, the plane may be displayed in a grid form, facilitating the calculation of the position of the target vehicle and its distance from the environmental objects.
In step S32, an environmental object simulation model is built on a plane by using a geometry built in the three.
In the present disclosure, the environmental object may include obstacles, in addition to the parking space, which may include but are not limited to: trash cans in parking lots, buildings, pedestrians, vehicles parked on parking spaces, vehicles traveling, and the like. It should be understood that in an actual parking scenario, it is typically the environmental object on the ground that affects the parking process, and therefore, in this disclosure, the environmental object simulation model is built on a flat surface.
In the present disclosure, if the environment object further includes a dynamic obstacle (for example, a pedestrian, a running vehicle, or the like), a controller for controlling the movement of the dynamic obstacle needs to be added to the scene object. Illustratively, the specific implementation manner of step S32 is: and constructing an environment object simulation model on a plane by using a built-in geometry of a three.js engine, and adding a controller for controlling the motion of the dynamic barrier to obtain a parking simulation scene.
In one possible approach, the environmental object simulation model may be constructed using three-dimensional modeling software such as Blender. However, considering three-dimensional modeling software such as blend as third-party software of a scene editing interface, in order to simplify the construction process of the parking simulation scene, in another possible way, an environmental object simulation model can be constructed on a plane by using a built-in geometry of a three.js engine to obtain the parking simulation scene. The environment object simulation model is drawn simply by using common geometry Geometries carried by a three. In the method, only important characteristics of the environmental objects need to be kept, so that the construction process of the parking simulation scene can be simplified.
In step S33, the parking simulation scenario is saved in a format that the three.
Similarly, to ensure that the target vehicle simulation model can be imported into the simulation interface built by the three.js engine, the parking simulation scenario may be saved in a format that is importable by the three.js engine. It should be understood that in the present disclosure, the three-dimensional simulation model of the constructed vehicle component and/or the target vehicle simulation model are three-dimensional, and therefore, the glTF format that the three. However, the parking simulation scene constructed in the present disclosure is two-dimensional, and therefore, the created parking simulation scene is described by using markup languages such as XML, JSON, YAML, and the like that can be imported by a three.
By adopting the technical scheme, the built-in geometric body of the three.js engine is directly utilized to construct the environmental object simulation model, and a third-party modeling software is not required to construct the environmental object simulation model, so that the construction process of the parking simulation scene is simplified. In addition, the built parking simulation scene is saved, so that the subsequent multiplexing is facilitated, and the workload of building the parking simulation scene again is reduced.
In practical application, considering that the parking scenes are various in the actual parking process of a vehicle, after the constructed parking simulation scene is saved, the saved parking simulation scene file and the parking scene editing interface can be bidirectionally bound, namely, when a technician modifies scene parameters in the parking simulation scene file, corresponding modification can be displayed in the scene editing interface. For example, when the tester modifies the movement speed of the dynamic obstacle from 10m/min to 50m/min in the parking simulation scene file, correspondingly, the scene editing interface may display that the movement speed of the dynamic obstacle is changed from 10m/min to 50 m/min.
Similarly, when the tester modifies the parking scene in the scene editing interface, the scene data included in the parking simulation scene file is also changed accordingly. For another example, when the technician changes the ambient brightness from a brightness to b brightness in the scene editing interface, the ambient brightness parameter in the parking simulation scene file is also changed from the a brightness parameter to the b brightness parameter.
In addition, the parking simulation scene stored in the markup languages such as XML, JSON, YAML and the like can be mutually converted with the Open Senario file through a data format.
Based on the same invention concept, the invention also provides an automatic parking simulation test device. Fig. 4 is a block diagram illustrating an automated parking simulation test setup, according to an exemplary embodiment. As shown in fig. 4, the automatic parking simulation test apparatus 400 may include:
a first obtaining module 401 configured to obtain a target vehicle simulation model and a parking simulation scenario in response to receiving a parking simulation test request for a target vehicle;
an importing module 402, configured to import the target vehicle simulation model and the parking simulation scenario in a preset simulation interface to simulate a parking process of the target vehicle in the parking simulation scenario, where the simulation interface is pre-constructed in a Web page by using a three.js engine; and
a display module 403 configured to display a parking process of the target vehicle in the parking simulation scene in three dimensions in the simulation interface.
Optionally, the automatic parking simulation testing apparatus 400 further includes:
the second obtaining module is configured to obtain simulation data, and the simulation data comprises parking process data and parking result data of the target vehicle in the parking simulation scene;
and the generating module is configured to generate an editable test report corresponding to the parking simulation scene according to the parking process data and the parking result data.
Optionally, there are a plurality of parking simulation scenarios, and the automatic parking simulation testing apparatus 400 further includes:
the first determining module is configured to determine a simulation type according to the parking simulation test request, wherein the simulation type is an online simulation type or an offline simulation type;
the second determining module is configured to determine whether a parking process of the target vehicle in the parking simulation scene is abnormal or not according to a test report corresponding to the parking simulation scene for each parking simulation scene under the condition that the simulation type is the offline simulation type, and determine the parking simulation scene as a target parking simulation scene under the condition that the parking simulation scene is abnormal;
the display module 403 includes:
the display sub-module is configured to display a parking process of the target vehicle in the target parking simulation scene in three dimensions in the simulation interface.
Optionally, the automatic parking simulation testing apparatus 400 further includes:
a first build module configured to build a corresponding three-dimensional simulation model for each controllable component of a target vehicle, and for an uncontrollable component, in response to receiving a request for building a simulation model of the target vehicle;
and the second construction module is configured to construct a target vehicle simulation model according to the three-dimensional simulation model corresponding to the uncontrollable component and the three-dimensional simulation model corresponding to each controllable component.
Optionally, the automatic parking simulation testing apparatus 400 further includes:
a first saving module configured to save the three-dimensional simulation model and/or the target vehicle simulation model in a format that the three.
Optionally, the automatic parking simulation testing apparatus 400 further includes:
the system comprises an adding module, a ground simulation module and a ground simulation module, wherein the adding module is configured to utilize a three.js engine to create a scene object in a parking scene editing interface and add a plane for simulating the ground in the scene object;
a third building module configured to build an environment object simulation model on the plane by using a built-in geometry of the three.js engine to obtain a parking simulation scene, wherein the environment object comprises a parking space;
a second saving module configured to save the parking simulation scene in a format that the three.
Optionally, the environmental object further comprises a dynamic barrier;
the third building module is configured to: and constructing an environment object simulation model on the plane by utilizing a built-in geometry of the three.js engine, and adding a controller for controlling the motion of the dynamic barrier to obtain a parking simulation scene.
With regard to the apparatus in the above-described embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be elaborated here.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the automatic parking simulation test method provided by the present disclosure.
FIG. 5 is a block diagram illustrating a first apparatus for automated parking simulation testing in accordance with an exemplary embodiment. For example, the first apparatus 500 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, an exercise device, a personal digital assistant, and the like.
Referring to fig. 5, the first apparatus 500 may include one or more of the following components: a first processing component 502, a first memory 504, a first power component 506, a multimedia component 508, an audio component 510, a first input/output interface 512, a sensor component 514, and a communication component 516.
The first processing component 502 generally controls overall operations of the first device 500, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The first processing component 502 may include one or more first processors 520 to execute instructions to perform all or a portion of the steps of the automated parking simulation test method. Further, the first processing component 502 can include one or more modules that facilitate interaction between the first processing component 502 and other components. For example, the first processing component 502 can include a multimedia module to facilitate interaction between the multimedia component 508 and the first processing component 502.
The first memory 504 is configured to store various types of data to support operations at the first device 500. Examples of such data include instructions for any application or method operating on the first device 500, contact data, phonebook data, messages, pictures, videos, and the like. The first memory 504 may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
A first power supply component 506 provides power to the various components of the first device 500. The first power component 506 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the first device 500.
The multimedia component 508 includes a screen providing an output interface between the first device 500 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 508 includes a front facing camera and/or a rear facing camera. The front camera and/or the rear camera may receive external multimedia data when the first device 500 is in an operation mode, such as a photographing mode or a video mode. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component 510 is configured to output and/or input audio signals. For example, the audio component 510 includes a Microphone (MIC) configured to receive an external audio signal when the first apparatus 500 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in the first memory 504 or transmitted via the communication component 516. In some embodiments, audio component 510 further includes a speaker for outputting audio signals.
The first input/output interface 512 provides an interface between the first processing component 502 and a peripheral interface module, which may be a keyboard, click wheel, button, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly 514 includes one or more sensors for providing various aspects of status assessment for the first device 500. For example, the sensor assembly 514 may detect an open/closed state of the first device 500, the relative positioning of the components, such as a display and keypad of the first device 500, the sensor assembly 514 may also detect a change in position of the first device 500 or a component of the first device 500, the presence or absence of user contact with the first device 500, orientation or acceleration/deceleration of the first device 500, and a change in temperature of the first device 500. The sensor assembly 514 may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 514 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 516 is configured to facilitate communication between the first apparatus 500 and other devices in a wired or wireless manner. The first device 500 may access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 516 receives a broadcast signal or broadcast associated information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 516 further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the first apparatus 500 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors or other electronic components for performing the automatic parking simulation test method.
In an exemplary embodiment, a non-transitory computer readable storage medium including instructions, such as the first memory 504 including instructions, executable by the first processor 520 of the first apparatus 500 to perform the auto park simulation test method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In a further exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a programmable device, the computer program having code sections for performing the automatic parking simulation test method described above when executed by the programmable device.
FIG. 6 is a block diagram illustrating a second apparatus for automated parking simulation testing in accordance with an exemplary embodiment. For example, the second apparatus 600 may be provided as a server. Referring to fig. 6, the second apparatus 600 includes a second processing component 622 that further includes one or more second processors, and memory resources, represented by a second memory 632, for storing instructions, such as applications, executable by the second processing component 622. The application stored in the second memory 632 may include one or more modules each corresponding to a set of instructions. Further, the second processing component 622 is configured to execute instructions to perform the automatic parking simulation test method described above.
The second device 600 may also include a second power component 626 configured to perform power management of the second device 600, a wired or wireless network interface 650 configured to connect the second device 600 to a network, and a second input/output interface 658. The second device 600 may operate based on an operating system, such as Windows Server, stored in the second memory 632TM，Mac OS XTM，UnixTM， LinuxTM，FreeBSDTMOr the like.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. An automatic parking simulation test method is characterized by comprising the following steps:
responding to a received parking simulation test request aiming at a target vehicle, and acquiring a target vehicle simulation model and a parking simulation scene;
importing the target vehicle simulation model and the parking simulation scene in a preset simulation interface to simulate the parking process of the target vehicle in the parking simulation scene, wherein the simulation interface is pre-constructed in a Web page by using a three.js engine; and
and displaying the parking process of the target vehicle in the parking simulation scene in a three-dimensional manner in the simulation interface.
2. The method of claim 1, further comprising:
acquiring simulation data, wherein the simulation data comprises parking process data and parking result data of the target vehicle in the parking simulation scene;
and generating an editable test report corresponding to the parking simulation scene according to the parking process data and the parking result data.
3. The method of claim 2, wherein the parking simulation scenario is plural, the method further comprising:
determining a simulation type according to the parking simulation test request, wherein the simulation type is an online simulation type or an offline simulation type;
under the condition that the simulation type is the off-line simulation type, determining whether the parking process of the target vehicle in the parking simulation scene is abnormal or not according to a test report corresponding to the parking simulation scene aiming at each parking simulation scene, and under the condition that the parking simulation scene is abnormal, determining the parking simulation scene as a target parking simulation scene;
the three-dimensional display of the parking process of the target vehicle in the parking simulation scene in the simulation interface comprises the following steps:
and displaying the parking process of the target vehicle in the target parking simulation scene in a three-dimensional manner in the simulation interface.
4. The method according to any one of claims 1-3, wherein the target vehicle simulation model is constructed by:
in response to receiving a request to build a target vehicle simulation model, each controllable component of the target vehicle is built with a corresponding three-dimensional simulation model, and each controllable component of the target vehicle is built with a corresponding three-dimensional simulation model;
and constructing a target vehicle simulation model according to the three-dimensional simulation model corresponding to the uncontrollable component and the three-dimensional simulation model corresponding to each controllable component.
5. The method of claim 4, further comprising:
js engine importable format to save the three-dimensional simulation model and/or the target vehicle simulation model.
6. The method according to any one of claims 1 to 3, characterized in that the parking simulation scenario is constructed by:
a scene object is created in a parking scene editing interface by utilizing a three.js engine, and a plane for simulating the ground is added in the scene object;
building an environment object simulation model on the plane by using a built-in geometry of the three.js engine to obtain a parking simulation scene, wherein the environment object comprises a parking space;
and saving the parking simulation scene in a format which can be imported by the three.
7. The method of claim 6, wherein the environmental object further comprises a dynamic obstacle; the building of the environmental object simulation model on the plane by using the built-in geometry of the three.js engine to obtain the parking simulation scene comprises the following steps:
and constructing an environment object simulation model on the plane by utilizing a built-in geometry of the three.js engine, and adding a controller for controlling the motion of the dynamic barrier to obtain a parking simulation scene.
8. An automatic parking simulation test device, comprising:
the system comprises a first obtaining module, a second obtaining module and a third obtaining module, wherein the first obtaining module is configured to respond to a parking simulation test request aiming at a target vehicle, and obtain a target vehicle simulation model and a parking simulation scene;
the import module is configured to import the target vehicle simulation model and the parking simulation scene in a preset simulation interface so as to simulate a parking process of the target vehicle in the parking simulation scene, wherein the simulation interface is pre-constructed in a Web page by using a three.js engine; and
the display module is configured to display a parking process of the target vehicle in the parking simulation scene in a three-dimensional manner in the simulation interface.
9. An automatic parking simulation test device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to:
in response to receiving a parking simulation test request for a target vehicle, acquiring a target vehicle simulation model and a parking simulation scene;
importing the target vehicle simulation model and the parking simulation scene in a preset simulation interface to simulate the parking process of the target vehicle in the parking simulation scene, wherein the simulation interface is pre-constructed in a Web page by using a three.js engine; and
and displaying the parking process of the target vehicle in the parking simulation scene in a three-dimensional manner in the simulation interface.
10. A computer-readable storage medium, on which computer program instructions are stored, which program instructions, when executed by a processor, carry out the steps of the method according to any one of claims 1 to 7.
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