CN114817370A - Automatic driving vehicle reproduction method, device, computer equipment and storage medium - Google Patents

Abstract

The present application relates to a method, apparatus, computer equipment and storage medium for reproducing an automatic driving vehicle. The method includes: receiving a query request, and the query request carries time information; acquiring an automatic driving event corresponding to an automatic driving vehicle within a target time period corresponding to the time information; continuously and dynamically displaying the automatic driving situation of the automatic driving vehicle on a map according to the automatic driving event . Using this method, the automatic driving events of the automatic driving vehicle can be presented intuitively.

Description

Automatic driving vehicle reproduction method, device, computer equipment and storage medium

technical field

The present application relates to the field of computer technology, and in particular, to a method, apparatus, computer device and storage medium for reproducing an autonomous driving vehicle.

Background technique

With the development of computer technology, automatic driving technology has emerged. Autonomous driving technology belongs to unmanned driving. There is no human active operation on the automatic driving vehicle, but the operation is carried out through the computer system. The auto-driving event of the autonomous vehicle is also important to the technicians of the autonomous vehicle. The technician needs to analyze the auto-driving situation of the auto-driving vehicle according to the auto-driving event. At present, the auto-driving vehicle uploads the auto-driving event to the server. , the technician analyzes the automatic driving events on the server to obtain the automatic driving situation, but in this way, it is impossible to intuitively understand the automatic driving situation of the automatic driving vehicle.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide an automatic driving vehicle reproduction method, apparatus, computer equipment and storage medium that can intuitively present the automatic driving events of the automatic driving vehicle in view of the above technical problems.

A method for reproducing an autonomous vehicle, the method comprising:

Receive a query request, and the query request carries time information;

Obtain the autopilot events corresponding to the autopilot vehicle within the target time period corresponding to the time information;

Continuously and dynamically displays the self-driving situation of the self-driving vehicle on the map based on the self-driving event.

In one of the embodiments, before receiving the query request, the method includes: collecting candidate automatic driving events that occur in each time period of the automatic driving vehicle, where the candidate automatic driving events include the automatic driving route of the automatic driving vehicle and the dispatching situation of the automatic driving vehicle. As well as the driving state data of the autonomous vehicle, candidate autonomous driving events are stored.

In one embodiment, acquiring the autopilot events corresponding to the autopilot vehicle within the target time period corresponding to the time information includes: filtering out candidate autopilot events within the target time period from candidate autopilot events occurring in each time period according to the time information. Autopilot events.

In one embodiment, the automatic driving situation of the automatic driving vehicle is continuously and dynamically displayed on the map according to the automatic driving event, including: acquiring the automatic driving route, dispatching situation and driving state data corresponding to the automatic driving event, and continuously and dynamically displaying the data on the map. Displays self-driving routes, dispatches, and driving status data for self-driving vehicles.

In one embodiment, after acquiring the auto-driving event corresponding to the auto-driving vehicle within the target time period corresponding to the time information, the method further includes: acquiring the auto-driving route corresponding to the auto-driving event, and determining the auto-driving starting position according to the auto-driving route and the autopilot end position, an animation of the autopilot vehicle traveling from the autopilot start position to the autopilot end position is presented on the map.

In one of the embodiments, after continuously and dynamically displaying the automatic driving situation of the automatic driving vehicle on the map according to the automatic driving event, the method includes: determining abnormal automatic driving data from the automatic driving situation, and pushing the abnormal automatic driving data to the abnormality analysis device, In order to make the abnormal analysis device perform abnormal analysis on abnormal automatic driving data, and obtain abnormal automatic driving analysis results.

In one of the embodiments, determining abnormal automatic driving data from the automatic driving situation includes: obtaining an automatic driving data set corresponding to the automatic driving situation, obtaining driving data features corresponding to each automatic driving data in the automatic driving data set, and according to the driving data features Filter out abnormal autopilot data from autopilot datasets.

An automatic driving vehicle reproduction device, the device includes:

The receiving module is used to receive the query request, and the query request carries time information;

an acquisition module, used to acquire the autopilot event corresponding to the autopilot vehicle within the target time period corresponding to the time information;

The display module is used to continuously and dynamically display the automatic driving situation of the automatic driving vehicle on the map according to the automatic driving event.

A computer device, comprising a memory, a processor and a computer program stored in the memory and running on the processor, the processor implements the following steps when executing the computer program:

Receive a query request, and the query request carries time information;

Obtain the autopilot events corresponding to the autopilot vehicle within the target time period corresponding to the time information;

Continuously and dynamically displays the self-driving situation of the self-driving vehicle on the map based on the self-driving event.

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Receive a query request, and the query request carries time information;

Obtain the autopilot events corresponding to the autopilot vehicle within the target time period corresponding to the time information;

Continuously and dynamically displays the self-driving situation of the self-driving vehicle on the map based on the self-driving event.

In the above method, device, computer equipment and storage medium for reproducing an automatic driving vehicle, the server receives a query request, and the query request carries time information; obtains the automatic driving event corresponding to the automatic driving vehicle within the target time period corresponding to the time information; according to the automatic driving event Continuously and dynamically display the autonomous driving situation of the autonomous vehicle on the map. By sending a query request to the server, finding the autopilot events matching the time information according to the query request, and displaying the autopilot events on the map with animation driving, you can intuitively and clearly understand the autopilot situation of the autopilot vehicle. It is convenient to trace the self-driving situation of self-driving vehicles.

Description of drawings

FIG. 1 is an application environment diagram of a method for reproducing an automatic driving vehicle in one embodiment;

2 is a schematic flowchart of a method for reproducing an autonomous driving vehicle in one embodiment;

2A is a schematic interface diagram of an autonomous driving situation of an autonomous vehicle in one embodiment;

3 is a schematic flowchart of a method for reproducing an autonomous driving vehicle in one embodiment;

FIG. 4 is a schematic flowchart of a step of displaying an automatic driving situation in one embodiment;

4A is a schematic diagram of displaying an autonomous vehicle on a map in one embodiment;

5 is a schematic flowchart of a method for reproducing an autonomous driving vehicle in one embodiment;

6 is a schematic flowchart of a method for reproducing an autonomous driving vehicle in one embodiment;

7 is a schematic flowchart of a step of determining abnormal automatic driving data in one embodiment;

8 is a structural block diagram of an apparatus for reproducing an autonomous driving vehicle in one embodiment;

Figure 9 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

The automatic driving vehicle reproduction method provided in this application can be applied to the application environment shown in FIG. 1 . The in-vehicle terminal 102 communicates with the server 104 through the network. The in-vehicle terminal 102 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers and portable wearable devices associated with the vehicle, and the server 104 can be an independent server or a server cluster composed of multiple servers to fulfill.

Specifically, the in-vehicle terminal 102 sends a query request to the server 104, the server 104 receives the query request, the query request carries the time information, and obtains the automatic driving event corresponding to the automatic driving vehicle in the target time period corresponding to the time information, according to the automatic driving event in the The automatic driving situation of the self-driving vehicle is continuously and dynamically displayed on the map.

In one embodiment, as shown in FIG. 2, a method for reproducing an autonomous driving vehicle is provided, and the method is applied to the server in FIG. 1 as an example to illustrate, including the following steps:

Step 202: Receive a query request, where the query request carries time information.

Among them, the query request is used to request to query the automatic driving data of the automatic driving vehicle, and the automatic driving data is the data related to the automatic driving vehicle, wherein the query request can carry the time information and the automatic driving vehicle identification, and the automatic driving vehicle identification can be At least one, different self-driving vehicle identifiers correspond to different self-driving vehicles.

Specifically, a query request can be triggered by related application software, or automatically triggered to generate a query request. The query request can carry time information, where the time information is time-related information used for query. For example, it is necessary to query the date of February 2022 The relevant driving data of the autonomous vehicle at 14:00 on the 14th, then the time information at 14:00 on February 14, 2022.

Step 204 , acquiring the automatic driving events corresponding to the automatic driving vehicle within the target time period corresponding to the time information.

Among them, the candidate autopilot events of the autopilot vehicle in each time period are collected and stored, and each candidate autopilot event is associated with the corresponding time period. Therefore, the time information carried in the query request can be used to find each time. The candidate autopilot time in the segment is queried and matched to obtain autopilot events that match the time information carried in the query request.

For example, the candidate autopilot event A corresponding to the time period 14:00-14:30, and the candidate autopilot event B corresponding to the time period 15:00-15:30, the time information carried in the query request is: 14:00-14 : 30, the autopilot event matching the time information is the candidate autopilot event A.

Step 206, continuously and dynamically displaying the automatic driving situation of the automatic driving vehicle on the map according to the automatic driving event.

Among them, after the automatic driving events corresponding to the automatic driving vehicles are obtained, the automatic driving events are continuously and dynamically displayed on the map. That is to say, the automatic driving situation of the self-driving vehicle is continuously and dynamically displayed in the form of animation on the map. The automatic driving situation of the self-driving vehicle can be intuitively understood, including the self-driving route and the self-driving state of the self-driving vehicle. For example, as shown in FIG. 2A , FIG. 2A shows a schematic interface diagram of the automatic driving situation of the automatic driving vehicle in one embodiment, and the automatic driving situation of the automatic driving vehicle is displayed in the form of animation in FIG. 2A , which can intuitively understand the automatic driving. The autonomous driving route of the vehicle.

In the above automatic driving vehicle reproduction method, the server receives a query request, and the query request carries time information; obtains the automatic driving event corresponding to the automatic driving vehicle in the target time period corresponding to the time information; continuously and dynamically displays the automatic driving event on the map according to the automatic driving event. The autonomous driving situation of the driving vehicle. By sending a query request to the server, finding the autopilot events matching the time information according to the query request, and displaying the autopilot events on the map with animation driving, you can intuitively and clearly understand the autopilot situation of the autopilot vehicle. It is convenient to trace the self-driving situation of self-driving vehicles.

In one embodiment, as shown in Figure 3, before receiving the query request, it includes:

Step 302 , collect candidate automatic driving events of the automatic driving vehicle in each time period, and the candidate automatic driving events include the automatic driving route of the automatic driving vehicle, the dispatching situation of the automatic driving vehicle, and the driving state data of the automatic driving vehicle.

Step 304, store candidate automatic driving events.

Among them, the automatic driving events occurring in each time period of the automatic driving vehicle can be collected from each automatic driving vehicle, as candidate automatic driving events, and stored.

The candidate automatic driving events include the automatic driving route of the automatic driving vehicle, the dispatching situation of the automatic driving vehicle, and the driving state data of the automatic driving vehicle in the corresponding time period. Among them, the automatic driving route is the driving route of the automatic driving vehicle, the dispatching situation is the dispatching driving order situation of the automatic driving vehicle, and the driving state data is data related to the state of the automatic driving vehicle.

Specifically, the automatic driving route of the self-driving vehicle, the dispatching situation of the self-driving vehicle, and the driving state data of the self-driving vehicle in each time period can be collected to form the candidate self-driving events of the self-driving vehicle in each time period, The time information is bound to the corresponding candidate autopilot events, and finally, the candidate autopilot events are stored.

In one embodiment, acquiring the automatic driving events corresponding to the automatic driving vehicle within the target time period corresponding to the time information includes: filtering out the automatic driving events within the target time period from candidate automatic driving events occurring in each time period according to the time information. driving incident.

Specifically, by comparing the time information carried in the query request with the time information associated with the candidate automatic driving events, the candidate automatic driving events corresponding to the same time are determined as the automatic driving corresponding to the automatic driving vehicle within the target time period corresponding to the time information. event. That is, the self-driving vehicle can filter out the self-driving events in the target time period from the candidate self-driving events occurring in each time period by using the time information carried in the query request.

In one embodiment, as shown in FIG. 4 , the automatic driving situation of the automatic driving vehicle is continuously and dynamically displayed on the map according to the automatic driving event, including:

Step 402: Acquire the automatic driving route, order dispatch situation and driving state data corresponding to the automatic driving event.

Step 404, continuously and dynamically displaying the automatic driving route, dispatching situation and driving state data of the automatic driving vehicle on the map.

Specifically, the automatic driving route, dispatching situation and driving state data included in the automatic driving event are acquired, and continuously and dynamically displayed on the map. That is, the automatic driving route, dispatching situation and driving status data of the automatic driving vehicle are displayed in the form of animation on the map. For example, as shown in FIG. 4A , FIG. 4A shows a schematic diagram of the display of an autonomous vehicle on a map in one embodiment, and FIG. 4A shows the autonomous driving route, dispatching situation and driving status data of the automated driving vehicle, and the dispatching situation It can be displayed on the map in the form of text, and the driving status data can be distinguished by the color of the autonomous vehicle. For example, if the autonomous vehicle is changed from the default color to gray, the driving status data can be considered abnormal.

In one embodiment, as shown in FIG. 5 , after acquiring the automatic driving event corresponding to the automatic driving vehicle within the target time period corresponding to the time information, the method further includes:

Step 502: Obtain an automatic driving route corresponding to the automatic driving event.

Step 504: Determine the starting position of the automatic driving and the ending position of the automatic driving according to the automatic driving route.

Step 506 , presenting an animation of the automatic driving vehicle traveling from the starting position of the automatic driving to the ending position of the automatic driving on the map.

Among them, after acquiring the autopilot event corresponding to the autopilot vehicle within the target time period corresponding to the time information, acquire the autopilot route included in the autopilot event, and determine the autopilot route by analyzing the start position and end position of the autopilot route. The autopilot start position and autopilot termination position corresponding to the driving vehicle. Further, the automatic driving of the automatic driving vehicle from the starting position of the automatic driving to the ending position of the automatic driving can be displayed in the form of animation on the map, so that the automatic driving route of the automatic driving vehicle can be intuitively understood, and the target corresponding to the time information of the automatic driving vehicle can be clearly understood. The self-driving route in the time period can also reproduce the self-driving route of the self-driving vehicle in the target time period on the map.

In one embodiment, as shown in FIG. 6 , after continuously and dynamically displaying the automatic driving situation of the automatic driving vehicle on the map according to the automatic driving event, it includes:

Step 602, determining abnormal automatic driving data from the automatic driving situation.

Step 604 , push the abnormal automatic driving data to the abnormal automatic driving data, so that the abnormal automatic driving data can be abnormally analyzed by the abnormal automatic driving data to obtain the abnormal automatic driving analysis result.

Among them, the abnormal automatic driving data is the automatic driving data of abnormal situation. The abnormal situation can be determined according to actual business needs, actual product requirements or actual application scenarios. The normal driving route of the vehicle, or there may be a problem with the driving state of the self-driving vehicle, or the dispatching of the self-driving vehicle is abnormal, etc., which can be determined according to actual business needs, actual product requirements, or actual application scenarios. .

Further, after the abnormal automatic driving data is determined from the automatic driving situation, the abnormal automatic driving data is pushed to the abnormal automatic driving data. After the abnormal automatic driving data is received, the abnormal automatic driving data is analyzed by the abnormal automatic driving data, and the abnormal automatic driving data is obtained. From the analysis results, the specific reasons for the abnormality of the autonomous vehicle can be known through the abnormal automatic driving analysis results, and maintenance and other operations can be performed according to the specific reasons.

In one embodiment, as shown in FIG. 7 , determining abnormal autopilot data from autopilot situations includes:

Step 702: Obtain an automatic driving data set corresponding to the automatic driving situation.

Step 704: Acquire driving data features corresponding to each automatic driving data in the automatic driving data set.

Step 706 , filter out abnormal automatic driving data from the automatic driving data set according to the characteristics of the driving data.

Among them, since the automatic driving situation can be reflected by the automatic driving data, each automatic driving situation includes a corresponding automatic driving data set. Specifically, an automatic driving data set corresponding to the automatic driving situation is obtained, and the automatic driving data set includes at least one piece of automatic driving data, and feature extraction is performed on the automatic driving data to obtain driving data features corresponding to each automatic driving data. Analysis to identify abnormal autonomous driving data in the autonomous driving data set. Among them, by analyzing the driving data features, it is possible to obtain standard driving data features corresponding to each automatic driving data, compare the extracted driving data features with the standard driving data features, and determine different driving data features as abnormal driving data features. , and the corresponding automatic driving data is abnormal driving data.

That is to say, the abnormal automatic driving data is determined by the driving data characteristics corresponding to the automatic driving data, the abnormal automatic driving data is filtered out, and the abnormal automatic driving data is pushed to the abnormal analysis equipment for analysis, so as to accurately understand the specific reasons for the abnormal automatic driving data, and The abnormal automatic driving data is revised to ensure the driving safety of the automatic driving vehicle.

It should be understood that although the steps in the above flow charts are displayed in sequence according to the arrows, these steps are not necessarily executed in the sequence indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and the steps may be executed in other orders. Moreover, at least a part of the steps in the above flow chart may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a phase.

In one embodiment, as shown in FIG. 8, an automatic driving vehicle reproduction apparatus 800 is provided, including: a receiving module 802, an obtaining module 804 and a display module 806, wherein:

The receiving module 802 is configured to receive a query request, where the query request carries time information.

The obtaining module 804 is configured to obtain the automatic driving events corresponding to the automatic driving vehicle within the target time period corresponding to the time information.

The display module 806 is configured to continuously and dynamically display the automatic driving situation of the automatic driving vehicle on the map according to the automatic driving event.

In one embodiment, the automatic driving vehicle reproducing apparatus 800 collects candidate automatic driving events that occur in the automatic driving vehicle in various time periods, and the candidate automatic driving events include the automatic driving route of the automatic driving vehicle, the dispatching situation of the automatic driving vehicle, and Driving state data of autonomous vehicles, storing candidate autonomous driving events.

In one embodiment, the obtaining module 804 selects the automatic driving events within the target time period from the candidate automatic driving events occurring in each time period according to the time information.

In one embodiment, the display module 806 obtains the automatic driving route, dispatching situation and driving state data corresponding to the automatic driving event, and continuously and dynamically displays the automatic driving route, dispatching situation and driving state data of the automatic driving vehicle on the map.

In one embodiment, the automatic driving vehicle reproduction apparatus 800 obtains the automatic driving route corresponding to the automatic driving event, determines the automatic driving starting position and the automatic driving ending position according to the automatic driving route, and presents the automatic driving vehicle on the map from the automatic driving. An animation of driving from the start position to the autopilot end position.

In one embodiment, the automatic driving vehicle reproduction apparatus 800 determines abnormal automatic driving data from the automatic driving situation, and pushes the abnormal automatic driving data to the abnormality analysis device, so that the abnormality analysis device performs abnormality analysis on the abnormal automatic driving data, and obtains Abnormal autonomous driving analysis results.

In one embodiment, the automatic driving vehicle reproduction apparatus 800 obtains the automatic driving data set corresponding to the automatic driving situation, obtains the driving data feature corresponding to each automatic driving data in the automatic driving data set, and filters out the automatic driving data set according to the driving data feature. Abnormal autonomous driving data. For the specific limitation of the reproducing apparatus for the automatic driving vehicle, reference may be made to the limitation on the method for reproducing the automatic driving vehicle above, which will not be repeated here. Each module in the above-mentioned automatic driving vehicle reproduction device can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, and the computer device may be a server, and its internal structure diagram may be as shown in FIG. 9 . The computer device includes a processor, memory, a network interface, and a database connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The computer device's database is used to store autonomous driving events. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by a processor, implements a method of reproducing an autonomous vehicle.

Those skilled in the art can understand that the structure shown in FIG. 9 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the following steps are implemented: receiving a query request, querying the request Carrying time information, obtain the autopilot event corresponding to the autopilot vehicle in the target time period corresponding to the time information, and continuously and dynamically display the autopilot situation of the autopilot vehicle on the map according to the autopilot event.

In one embodiment, when the processor executes the computer program, it further implements the following steps: collecting candidate automatic driving events that occur in the automatic driving vehicle in each time period, where the candidate automatic driving events include the automatic driving route of the automatic driving vehicle, the automatic driving Dispatching orders and driving status data of autonomous vehicles, storing candidate autonomous driving events.

In one embodiment, when the processor executes the computer program, the processor further implements the following steps: filtering out the automatic driving events in the target time period from candidate automatic driving events occurring in each time period according to the time information.

In one embodiment, when the processor executes the computer program, it further implements the following steps: acquiring the automatic driving route, dispatching situation and driving state data corresponding to the automatic driving event, and continuously and dynamically displaying the automatic driving route, dispatching and driving state data of the automatic driving vehicle on the map. Single situation and driving state data.

In one embodiment, the processor further implements the following steps when executing the computer program: acquiring an automatic driving route corresponding to the automatic driving event, determining the automatic driving start position and the automatic driving end position according to the automatic driving route, and presenting the automatic driving vehicle on the map Animation of driving from the autopilot start position to the autopilot end position.

In one embodiment, the processor further implements the following steps when executing the computer program: determining abnormal automatic driving data from the automatic driving situation, and pushing the abnormal automatic driving data to the abnormal automatic driving data, so that the abnormal automatic driving data can be analyzed by the abnormal automatic driving data. Abnormal analysis, get abnormal automatic driving analysis results.

In one embodiment, the processor further implements the following steps when executing the computer program: obtaining an automatic driving data set corresponding to the automatic driving situation, obtaining driving data features corresponding to each automatic driving data in the automatic driving data set, Abnormal autonomous driving data is filtered out of the dataset.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: receiving a query request, carrying time information in the query request, and obtaining the time information of the autonomous vehicle. The automatic driving events corresponding to the target time period corresponding to the information, and the automatic driving situation of the automatic driving vehicle is continuously and dynamically displayed on the map according to the automatic driving events.

In one embodiment, when the processor executes the computer program, it further implements the following steps: collecting candidate automatic driving events that occur in the automatic driving vehicle in each time period, where the candidate automatic driving events include the automatic driving route of the automatic driving vehicle, the automatic driving Dispatching orders and driving status data of autonomous vehicles, storing candidate autonomous driving events.

In one embodiment, when the processor executes the computer program, the processor further implements the following steps: filtering out the automatic driving events in the target time period from candidate automatic driving events occurring in each time period according to the time information.

In one embodiment, when the processor executes the computer program, it further implements the following steps: acquiring the automatic driving route, dispatching situation and driving state data corresponding to the automatic driving event, and continuously and dynamically displaying the automatic driving route, dispatching and driving state data of the automatic driving vehicle on the map. Single situation and driving state data.

In one embodiment, the processor further implements the following steps when executing the computer program: acquiring an automatic driving route corresponding to the automatic driving event, determining the automatic driving start position and the automatic driving end position according to the automatic driving route, and presenting the automatic driving vehicle on the map Animation of driving from the autopilot start position to the autopilot end position.

In one embodiment, the processor further implements the following steps when executing the computer program: determining abnormal automatic driving data from the automatic driving situation, and pushing the abnormal automatic driving data to the abnormal automatic driving data, so that the abnormal automatic driving data can be analyzed by the abnormal automatic driving data. Abnormal analysis, get abnormal automatic driving analysis results.

In one embodiment, the processor further implements the following steps when executing the computer program: obtaining an automatic driving data set corresponding to the automatic driving situation, obtaining driving data features corresponding to each automatic driving data in the automatic driving data set, Abnormal autonomous driving data is filtered out of the dataset.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. A method for reproducing an automatic driving vehicle, the method comprising: receiving a query request, where the query request carries time information; acquiring the autopilot event corresponding to the autopilot vehicle within the target time period corresponding to the time information; The automatic driving situation of the automatic driving vehicle is continuously and dynamically displayed on the map according to the automatic driving event. 2. The method according to claim 1, wherein before the receiving the query request, comprising: Collecting candidate automatic driving events that occurred in each time period of the automatic driving vehicle, the candidate automatic driving events include the automatic driving route of the automatic driving vehicle, the dispatching situation of the automatic driving vehicle, and the driving state data of the automatic driving vehicle; The candidate autonomous driving events are stored. 3. The method according to claim 2, wherein the acquiring the automatic driving event corresponding to the automatic driving vehicle in the target time period corresponding to the time information comprises: According to the time information, the automatic driving events in the target time period are screened out from the candidate automatic driving events occurring in each time period. 4. The method according to claim 3, wherein the continuously and dynamically displaying the automatic driving situation of the automatic driving vehicle on the map according to the automatic driving event comprises: Acquiring the automatic driving route, dispatching situation and driving status data corresponding to the automatic driving event; The automatic driving route, dispatching situation and driving status data of the automatic driving vehicle are continuously and dynamically displayed on the map. 5 . The method according to claim 1 , wherein after acquiring the automatic driving event corresponding to the automatic driving vehicle within the target time period corresponding to the time information, the method further comprises: 6 . obtaining the autopilot route corresponding to the autopilot event; Determine the starting position of automatic driving and the ending position of automatic driving according to the automatic driving route; An animation of the autonomous vehicle traveling from the autonomous driving start position to the autonomous driving termination position is presented on the map. 6 . The method according to claim 1 , wherein after continuously and dynamically displaying the automatic driving situation of the automatic driving vehicle on a map according to the automatic driving event, the method comprises: determining abnormal autonomous driving data from the autonomous driving situation; The abnormal automatic driving data is pushed to the abnormality analysis device, so that the abnormality analysis device performs abnormality analysis on the abnormal automatic driving data to obtain the abnormal automatic driving analysis result. 7. The method according to claim 6, wherein the determining abnormal automatic driving data from the automatic driving situation comprises: obtaining an automatic driving data set corresponding to the automatic driving situation; obtaining driving data features corresponding to each automatic driving data in the automatic driving data set; The abnormal automatic driving data is filtered out from the automatic driving data set according to the driving data characteristics. 8. A device for reproducing an automatic driving vehicle, wherein the device comprises: a receiving module, configured to receive a query request, where the query request carries time information; an acquisition module, configured to acquire the autopilot event corresponding to the autopilot vehicle within the target time period corresponding to the time information; The display module is used for continuously and dynamically displaying the automatic driving situation of the automatic driving vehicle on the map according to the automatic driving event. 9. A computer device comprising a memory, a processor and a computer program stored on the memory and running on the processor, wherein the processor implements any one of claims 1 to 7 when the processor executes the computer program. A step of the method. 10. A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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