CN115206122B - Track display method and device, storage medium and computer equipment - Google Patents
Track display method and device, storage medium and computer equipment Download PDFInfo
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
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- G06F16/248—Presentation of query results
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- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096855—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver
- G08G1/096861—Systems involving transmission of navigation instructions to the vehicle where the output is provided in a suitable form to the driver where the immediate route instructions are output to the driver, e.g. arrow signs for next turn
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Abstract
The application provides a track display method, a track display device, a storage medium and computer equipment, wherein playing equipment can render a pause interface according to first track data at a pause time, and the pause interface can display a predicted planning track of a movable object at the pause time. If a selection instruction for selecting at least one predicted planned track displayed on the pause interface is received, the playing device may use track data of the predicted planned track selected by the selection instruction in the first track data as target data, and mark the target data so as to keep the target data from being deleted in the local cache. Under the condition that a track playing instruction is received, if the predicted planned track corresponding to the target data needs to be played at the current moment, the playing equipment can play the predicted planned track obtained by taking the pause moment as the starting moment of the predicted planning even if the current playing moment is not the pause moment.
Description
Technical Field
The present disclosure relates to the field of autopilot technologies, and in particular, to a track display method, apparatus, storage medium, and computer device.
Background
In the field of autopilot, a vehicle equipped with an autopilot algorithm plans a driving track of the own vehicle at each time point and predicts a moving track of an obstacle at each time point during running. In other words, for each moment in the driving process, the automatic driving algorithm uses the moment as the starting moment of the prediction planning, and performs the track planning and the track prediction for the vehicle and the obstacle respectively, so as to obtain one or more vehicle planning tracks and one or more obstacle prediction planning tracks.
In order to facilitate engineers to know the actual driving scene of the vehicle during driving and the algorithm output of the automatic driving algorithm during driving, the prior art can utilize playing equipment to acquire track data at the current playing time and render a visual interface according to the track data at the current playing time, so that the visual interface can display the predicted planning track of the vehicle and the obstacle, and further track display is realized. However, the inventor researches that in the prior art, in the process of implementing track display, only a predicted planned track obtained by taking the current playing time as the starting time of the predicted plan can be displayed, which is not beneficial to improving the predicted planning algorithm.
Disclosure of Invention
The present application aims to solve at least one of the above technical drawbacks, and in particular, to a technical drawback that only a predicted planned track obtained by taking a current playing time as a starting time of a predicted plan can be displayed in the prior art.
The embodiment of the application provides a track display method, which is applied to a playing device, wherein the playing device is provided with a local cache, and the method comprises the following steps:
rendering a pause interface according to the first track data cached in the local cache, so that the pause interface displays each predicted planning track of at least one movable object at the pause moment; the first track data are track data under the pause time;
marking target data in the first track data in response to a selection instruction for selecting at least one predicted planned track displayed by the pause interface, so as to keep the target data in the local cache when the cache data of the local cache is updated; the target data comprise track data of each predicted planning track selected by the selection instruction;
responding to the track playing instruction, and determining track position identifiers of all track positions to be displayed at the current playing moment;
For each track position identifier, if the track position identifier is the track identifier of the predicted planned track corresponding to the marked track data, determining target display data corresponding to the track position identifier according to the target data, otherwise, determining target display data corresponding to the track position identifier according to non-target data cached in the local cache;
and rendering the display interface at the current playing time according to each target display data.
In one embodiment, the track data of each predicted planned track selected by the selection instruction includes predicted planned positions of the movable object corresponding to the predicted planned track at a plurality of moments, and actual contour data of the movable object corresponding to the predicted planned track at the suspension moment;
the step of determining the target display data corresponding to the track position identifier according to the target data comprises the following steps:
and extracting a first target position and first contour data from the target data, respectively determining a first display color and a first display transparency, and taking the first target position, the first contour data, the first display color and the first display transparency as target display data corresponding to the track position mark, wherein the first target position is a predicted planning position of a target track at the current playing moment, the first contour data is actual contour data of a movable object corresponding to the target track at the pause moment, and the target track is a predicted planning track corresponding to the track position mark.
In one embodiment, the step of determining the target display data corresponding to the track location identifier according to the non-target data cached in the local cache includes:
if the track position identifier is an actual position identifier, respectively extracting a second target position and second contour data from second track data cached in the local cache, determining a second display color and a second display transparency, and taking the second target position, the second contour data, the second display color and the second display transparency as target display data corresponding to the track position identifier, wherein the second track data is track data corresponding to the current playing moment, the second target position is an actual position of the movable object corresponding to the track position identifier at the current playing moment, and the second contour data is actual contour data of the movable object corresponding to the track position identifier at the current playing moment.
In one embodiment, any of the movable objects is a vehicle or an obstacle. Before the step of rendering the display interface at the current playing time according to each target display data, the method further includes:
If each track position identifier corresponding to the current playing time comprises at least one own vehicle track position identifier and at least one obstacle track position identifier, for each own vehicle track position identifier, judging whether a predicted planned track corresponding to the own vehicle track position identifier collides with at least one obstacle at the current playing time according to a first target position corresponding to the own vehicle track position identifier and a second target position corresponding to each obstacle track position identifier, and if the predicted planned track corresponding to the own vehicle track position identifier collides with at least one obstacle at the current playing time, modifying a first display color in target display data corresponding to the own vehicle track position identifier into a third display color;
the track position mark of the own vehicle is a track mark of a predicted planning track of the own vehicle, and track data corresponding to the track position mark of the own vehicle is marked; the obstacle track position identifier is an actual position identifier of the obstacle.
In one embodiment, the track data of each predicted planned track selected by the selection instruction further includes a weight corresponding to the predicted planned track. The step of determining the first display transparency includes: and extracting a weight corresponding to the track position identifier from the target data, and determining the first display transparency based on the weight, wherein the first display transparency and the weight are in positive correlation or negative correlation.
In one embodiment, the step of rendering the display interface at the current playing time according to each target display data includes:
and rendering the display interface at the current playing time according to each target display data, so that the display interface at the current playing time displays the outline corresponding to the target display data at the position included by each target display data according to the display color and the transparency in the target display data.
In one embodiment, the method further comprises: for each track position identifier corresponding to the current playing time, if the track position identifier is a track identifier of a predicted planned track corresponding to marked track data, extracting an actual position of a movable object corresponding to the track position identifier at the current playing time from second track data cached in the local cache, and calculating a predicted deviation value corresponding to the track position identifier, wherein the actual position of the movable object corresponding to the track position identifier at the current playing time corresponds to a first target position corresponding to the track position identifier; the second track data is track data corresponding to the current playing time;
And generating a deviation data chart according to each predicted deviation value.
In one embodiment, for each track position identifier, if the track position identifier is a track identifier of a predicted planned track corresponding to the marked track data, determining target display data corresponding to the track position identifier according to the target data, otherwise, determining target display data corresponding to the track position identifier according to non-target data cached in the local cache, including:
responding to the track playing instruction, clearing unmarked cache data in the local cache, reading second track data from a playing file, and caching the second track data in the local cache; the second track data is track data corresponding to the current playing time.
The embodiment of the application provides a track display device, the device is applied to playback equipment, playback equipment is equipped with local buffer memory, the device includes:
the first interface rendering module is used for rendering a pause interface according to the first track data cached in the local cache so that the pause interface displays each predicted planning track of at least one movable object at the pause moment; the first track data are track data under the pause time;
The data marking module is used for marking target data in the first track data in response to a selection instruction for selecting at least one predicted planned track displayed by the pause interface so as to keep the target data in the local cache when the cache data of the local cache are updated; the target data comprise track data of each predicted planning track selected by the selection instruction;
the track position identification determining module is used for responding to the track playing instruction and determining track position identifications of all track positions to be displayed at the current playing moment;
the target display data determining module is used for determining target display data corresponding to the track position identifiers according to the target data if the track position identifiers are track identifiers of the predicted planned tracks corresponding to the marked track data, or determining target display data corresponding to the track position identifiers according to non-target data cached in the local cache if the track position identifiers are track identifiers of the predicted planned tracks corresponding to the marked track data;
and the second interface rendering module is used for rendering the display interface at the current playing time according to each target display data.
Embodiments of the present application provide a storage medium having stored therein computer readable instructions, which when executed by one or more processors, cause the one or more processors to perform the steps of the track display method described in any of the embodiments above.
The embodiment of the application provides computer equipment, which comprises: one or more processors, and memory;
the memory has stored therein computer readable instructions which, when executed by the one or more processors, perform the steps of the track display method of any of the embodiments described above.
In the track display method, the track display device, the storage medium and the computer equipment provided by the application, the playing equipment can render the pause interface according to the first track data at the pause time, and the pause interface can display the predicted planning track of the movable object at the pause time. If a selection instruction for selecting at least one predicted planned track displayed on the pause interface is received, the playing device may use track data of the predicted planned track selected by the selection instruction in the first track data as target data, and mark the target data so as to keep the target data from being deleted in the local cache.
Because the target data is track data of the predicted planned track obtained by taking the pause time as the starting time of the predicted planning and is continuously reserved in the local cache, under the condition that a track playing instruction is received, if the predicted planned track corresponding to the target data needs to be played at the current time, even if the current playing time is not the pause time, the playing equipment can play the predicted planned track obtained by taking the pause time as the starting time of the predicted planning, so that engineers can quickly know the matching degree of the predicted planned track obtained by the automatic driving algorithm at the driving time and the actual driving condition, and further the predicted planning algorithm can be helped to be promoted.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a diagram of a prior art display interface in the case of pause play;
FIG. 2A is a diagram of a display interface of the prior art at 0 second when a track play command is received;
FIG. 2B is a diagram of a display interface of the prior art at 1 st second when a track play command is received;
FIG. 2C is a diagram of a prior art display interface upon receipt of a pause instruction based on FIG. 2B;
FIG. 3 is a flow chart of a track display method according to an embodiment of the present application;
FIG. 4 is a diagram of one of display interfaces of a track display method according to an embodiment of the present application;
FIG. 5 is a second display interface diagram of a track display method according to an embodiment of the present application;
FIG. 6A is a diagram of a pause interface in one embodiment of the present application;
FIG. 6B is a diagram of a dynamic play display interface based on FIG. 6A;
FIG. 7 is a schematic diagram of data storage in one embodiment of the present application;
FIG. 8 is a schematic diagram of a track display device according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a computer device in one embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
As to the background art, in the process of implementing track display in the prior art, only the predicted planned track obtained by taking the current playing time as the starting time of the predicted plan can be displayed, which is not beneficial to the promotion of the predicted planning algorithm. Specifically, as shown in fig. 1, in the case of suspending playing, in the prior art, a planned track of a vehicle and a predicted track of each obstacle at the current playing time (i.e., the suspending time) may be displayed, where the displayed planned track of the vehicle and the predicted track of each obstacle are obtained by taking the current playing time as the starting time of the predicted plan, and each predicted planned track is presented in a linear manner on the visual interface. In general, for each moment, the autopilot algorithm generally outputs a plurality of predicted trajectories and a plurality of predicted trajectories for obstacles, and in the illustration, in order to avoid overlapping confusion of trajectories, fig. 1 illustrates 1 planned trajectory for a vehicle and 1 predicted trajectory for obstacles.
As shown in fig. 2A and fig. 2B, the playing device may display the real-time positions of the vehicle and the obstacles at the current playing time when receiving the track playing instruction, so as to facilitate the engineers to dynamically observe the actual track and contour of the vehicle and each obstacle. Fig. 2A shows a visual interface corresponding to the 0 th second when the playing device receives the track playing instruction, and fig. 2B shows a visual interface corresponding to the 1 st second when the playing device receives the track playing instruction. If the playing device receives the pause instruction in the 1 st second, the playing device displays the planned track of the own vehicle and the predicted track of the obstacle, which are obtained by the automatic driving algorithm with the 1 st second as the starting time of the prediction plan, and the pause interface can be shown in fig. 2C.
If an engineer wants to watch a predicted planning track obtained by taking the 0 th second as the starting time of the predicted planning in a visual interface corresponding to the 1 st second, the prior art cannot realize the predicted planning track, so that the engineer is not beneficial to quickly knowing the matching degree of the predicted planning track and the actual driving situation, and the predicted planning algorithm is not beneficial to improvement.
In order to solve the above problems, the present application provides a track display method, apparatus, storage medium, and computer device, where even if the current playing time is not the pause time, the playing device may play the predicted planned track obtained by using the pause time as the starting time of the predicted plan, so that an engineer may quickly understand the matching degree between the predicted planned track obtained by the autopilot algorithm at the driving time and the actual driving situation, and further may help to promote the predicted planning algorithm.
In one embodiment, the present application provides a track display method, which may be applied to a playback device, where a local cache is provided in the playback device. As shown in fig. 3, the method specifically includes the following steps:
s202, rendering a pause interface according to first track data cached in the local cache, so that the pause interface displays each predicted planned track of at least one movable object at the pause moment; the first track data is the track data at the pause time.
The first track data refers to track data at a suspension time, including, but not limited to, an actual position of a vehicle at the suspension time, an actual position of each obstacle at the suspension time, and each predicted planned track obtained by an automatic driving algorithm using the suspension time as a starting time of a predicted plan.
Specifically, before rendering the pause interface, the playback device may obtain the first track data from the playback file and load the first track data in the local cache. The playing file is used for recording track data at each moment, and can be stored in the playing device or a server.
And under the condition that the pause interface needs to be rendered, the playing device can read the first track data from the local cache and render the pause interface according to the first track data, so that the pause interface displays at least one predicted planning track of at least one movable object at the pause moment. In one embodiment, any of the movable objects may be a vehicle or an obstacle, for example, the pause interface may display at least one predicted planned trajectory of the vehicle and/or at least one predicted planned trajectory of the obstacle.
S204, marking target data in the first track data in response to a selection instruction for selecting at least one predicted planned track displayed by the pause interface, so as to keep the target data in the local cache when updating cache data of the local cache; the target data includes track data of each predicted planned track selected by the selection instruction.
In particular, the engineer may select one or more predicted planned trajectories displayed on the pause interface, i.e. one or more predicted planned trajectories derived by the autopilot algorithm with the pause moment as the start moment of the predicted plan. Under the condition that the playing device receives the selection instruction, the playing device can determine the predicted planned track selected by the selection instruction, take track data of the selected predicted planned track as target data and carry out data marking on the target data in the first track data.
And when the track is dynamically played, the playing device updates the locally cached data for a plurality of times. Specifically, the playing device may continuously obtain track data corresponding to the current playing time from the playing file, and cache the track data corresponding to the current playing time into the local cache. The playing device needs to clear the data in the local buffer memory due to the storage capacity of the local buffer memory, so as to ensure that enough storage space in the local buffer memory loads the track data corresponding to the current playing time. During the process of updating the cached data, the playback device will retain the marked data in the local cache, i.e., the playback device will not delete the marked data from the local cache.
S206, in response to the track playing instruction, determining track position identifiers of all track positions to be displayed at the current playing time.
For example, when the selection instruction selects a plurality of predicted planned trajectories, the playback device may selectively play one or a plurality of predicted planned trajectories at the current playback time according to the needs of the engineer, in which case the playback device may determine the trajectory position identifier of the trajectory position that needs to be displayed at the current playback time.
In one embodiment, the track play instruction may be generated upon detecting that the play timeline is dragged, or upon detecting that the track play control is triggered. In one example, the play time axis may include an algorithmic time axis for playing track data of the marked predicted planned track and a regular time axis for playing real-time positions.
S208, for each track position identifier, if the track position identifier is the track identifier of the predicted planned track corresponding to the marked track data, determining target display data corresponding to the track position identifier according to the target data, otherwise, determining target display data corresponding to the track position identifier according to non-target data cached in the local cache.
Specifically, for each track position identifier at the current playing time, the playing device may determine, according to the target display data corresponding to the track position identifier from the locally cached cache data. The target display data corresponding to the track position identifier refers to data for rendering a movable object image corresponding to the track position identifier on a display interface, and may include any one or any combination of a display position, a display contour, a display color and a display transparency.
For each track position identifier at the current playing time, if the track position identifier is the track identifier of the predicted planned track corresponding to the marked track data, the track data corresponding to the track position identifier is indicated to be target data, so that the target display data corresponding to the track position identifier can be determined according to the target data cached in the local cache; if the track position identifier is not the track identifier of the predicted planned track corresponding to the marked track data, the track data corresponding to the track position identifier is the track data corresponding to the current playing time, so that the target display data corresponding to the track position identifier can be determined according to the non-target data stored in the local cache, and the non-target data can be the track data corresponding to the current playing time.
And S210, rendering the display interface of the current playing time according to each target display data.
The playing device can render the display interface at the current playing time according to the target display data corresponding to each track position identifier, so that the display interface at the current playing time can need the content to be displayed.
In the embodiment of the application, the playing device may render a pause interface according to the first track data at the pause time, where the pause interface may display the predicted planned track of the movable object at the pause time. If a selection instruction for selecting at least one predicted planned track displayed on the pause interface is received, the playing device may use track data of the predicted planned track selected by the selection instruction in the first track data as target data, and mark the target data so as to keep the target data from being deleted in the local cache.
Because the target data is track data of the predicted planned track obtained by taking the pause time as the starting time of the predicted planning and is continuously reserved in the local cache, under the condition that a track playing instruction is received, if the predicted planned track corresponding to the target data needs to be played at the current time, even if the current playing time is not the pause time, the playing equipment can play the predicted planned track obtained by taking the pause time as the starting time of the predicted planning, so that engineers can quickly know the matching degree of the predicted planned track obtained by the automatic driving algorithm at the driving time and the actual driving condition, and further the predicted planning algorithm can be helped to be promoted.
In one embodiment, the track data of each predicted planned track selected by the selection instruction includes a predicted planned position of the movable object corresponding to the predicted planned track at a plurality of moments, for example, if the suspension moment is T0, track data of one vehicle predicted planned track may include a predicted planned position of the vehicle at a moment (t0+ [ delta ] T), a predicted planned position of the vehicle at a moment (t0+2 [ delta ] T), a predicted planned position of the … … vehicle at a moment (t0+n [ delta ] T), and the like. Wherein DeltaT is a preset time interval, n is a positive integer, and the specific value of DeltaT can be determined according to actual conditions.
The track data of each predicted planned track selected by the selection instruction may further include actual contour data of the movable object corresponding to the predicted planned track at the suspension time. The actual contour data of the movable object corresponding to the predicted planning track under the pause time refers to the contour data of the actual contour of the movable object corresponding to the predicted planning track under the pause time.
The step of determining the target display data corresponding to the track position identifier according to the target data comprises the following steps:
And extracting a first target position and first contour data from the target data, respectively determining a first display color and a first display transparency, and taking the first target position, the first contour data, the first display color and the first display transparency as target display data corresponding to the track position mark, wherein the first target position is a predicted planning position of a target track at the current playing moment, the first contour data is actual contour data of a movable object corresponding to the target track at the pause moment, and the target track is a predicted planning track corresponding to the track position mark.
Specifically, for each track position identifier corresponding to the current playing time, if the track position identifier is a track identifier of a predicted planned track corresponding to the marked track data, the following procedure may be executed: taking a predicted planning track corresponding to the track position mark as a target track, and extracting a predicted track position of the target track at the current playing time, namely a first target position, from target data; the playing device can extract the actual contour data, namely the first contour data, of the movable object corresponding to the target track at the pause time from the target data; and determining a first display color and a first display transparency, and taking the first target position, the first contour data, the first display color and the first display transparency as target display data of the track position mark.
In this way, the predicted planned track at the pause time and the actual contour data of the movable object corresponding to the predicted planned track at the pause time can be associated to obtain the target display data, so that the playing device can dynamically display the position and the contour of the movable object at the current playing time when the movable object moves according to the predicted planned track.
In one embodiment, the step of determining the target display data corresponding to the track location identifier according to the non-target data cached in the local cache includes:
if the track position identifier is an actual position identifier, respectively extracting a second target position and second contour data from second track data cached in the local cache, determining a second display color and a second display transparency, and taking the second target position, the second contour data, the second display color and the second display transparency as target display data corresponding to the track position identifier, wherein the second track data is track data corresponding to the current playing moment, the second target position is an actual position of the movable object corresponding to the track position identifier at the current playing moment, and the second contour data is actual contour data of the movable object corresponding to the track position identifier at the current playing moment.
Specifically, in the local buffer, track data corresponding to the current playing time, that is, second track data, is buffered. For each track position identifier corresponding to the current playing time, if the track position identifier is not the track identifier of the predicted planned track corresponding to the marked track data, the track data corresponding to the track position identifier is indicated to belong to the track data corresponding to the current playing time. The track data corresponding to the current playing time may include the actual position of each movable object at the current playing time, and the track data of each predicted planned track obtained by the autopilot algorithm with the current playing time as the starting time of the predicted plan.
For each track position identifier, if the track position identifier is not the track identifier of the predicted planned track corresponding to the marked track data and is the actual position identifier, the playing device can extract the actual position of the movable object corresponding to the track position identifier at the current playing time from the second track data, namely the second target position; the playing device can also extract actual track data, namely second contour data, of the movable object corresponding to the track position identifier at the current playing time from the second track data; the playback device may further determine a second display color and a second display transparency, and use the second display color, the second display transparency, the second target position, and the second contour data as target display data corresponding to the track position identifier.
In this way, the actual position of the movable object at the current playing time can be associated with the actual contour data of the movable object at the current playing time to obtain the target display data, so that the playing device can dynamically display the actual motion trail and contour of the movable object.
In one embodiment, the step of rendering the display interface at the current playing time according to each target display data includes:
and rendering the display interface at the current playing time according to each target display data, so that the display interface at the current playing time displays the outline corresponding to the target display data at the position included by each target display data according to the display color and the transparency in the target display data.
Taking the display interface of the playing device at the current moment as an example according to two target display data, one target display data comprises a first target position A, first contour data A, a first display color and a first display transparency, and the other target display data comprises a first target position B, first contour data B, a first display color and a first display transparency. In this case, the playing device may render the display interface at the current playing time according to the two aforementioned target display data, so that the display interface at the current playing time displays, at the first target position a, the contour corresponding to the first contour data a with the first display color and the first display transparency; and displaying the outline corresponding to the first outline data B at the first target position B by the display interface at the current playing time according to the first display color and the first display transparency.
In one example, as shown in fig. 4, after marking the predicted planned trajectory of the movable object, which is obtained by taking the 0 th second as the starting time of the predicted planning, the display interface of the 1 st second is in the process of dynamic playing, wherein the display interface of the 1 st second displays the predicted planned position of the predicted planned trajectory at the 1 st second (i.e. the "0 th second predicted planned position" in the drawing) and the actual position of the same movable object at the 1 st second. Therefore, the matching degree of the predicted planning track outline and the real track outline of the movable object can be dynamically compared, so that the outline position difference can be observed in a visual mode, an engineer can quickly and macroscopically know the actual road condition and algorithm deviation from the real world view, and the planning control algorithm can be improved.
In one embodiment, any of the movable objects is a vehicle or an obstacle, in other words, for each movable object, the movable object may be a vehicle or an obstacle. Before the step of rendering the display interface at the current playing time according to each target display data, the method further includes:
if each track position identifier corresponding to the current playing time comprises at least one own vehicle track position identifier and at least one obstacle track position identifier, for each own vehicle track position identifier, judging whether a predicted planned track corresponding to the own vehicle track position identifier collides with at least one obstacle at the current playing time according to a first target position corresponding to the own vehicle track position identifier and a second target position corresponding to each obstacle track position identifier, and if the predicted planned track corresponding to the own vehicle track position identifier collides with at least one obstacle at the current playing time, modifying a first display color in target display data corresponding to the own vehicle track position identifier into a third display color;
The track position mark of the own vehicle is a track mark of a predicted planning track of the own vehicle, and track data corresponding to the track position mark of the own vehicle is marked; the obstacle track position identifier is an actual position identifier of the obstacle.
Specifically, when the track identifiers of the marked vehicle prediction planned track and the actual position identifiers of the obstacles are included in the track position identifiers corresponding to the current playing time, the playing device can judge whether the vehicle prediction track collides with the obstacles at the current playing time according to the predicted planned position of the marked vehicle prediction track at the current time and the actual position of the obstacles at the current time, which are required to be displayed. If so, the display color corresponding to the predicted track of the vehicle can be modified, and the display color is modified to be a third display color different from the first display color, so that collision is warned through the change of the display color.
Further, for each vehicle track position identifier, the playing device may determine whether the predicted planned track corresponding to the vehicle track position identifier collides with at least one obstacle at the current playing time according to the first target position corresponding to the vehicle track position identifier, the first contour data corresponding to the vehicle track position identifier, the second target position corresponding to each obstacle track position identifier, and the second contour data corresponding to each obstacle track position identifier, so as to dynamically analyze whether the contour in the planned track of the vehicle collides with the real contour of the obstacle, and help to promote the predicted planning algorithm.
In one example, as shown in fig. 5, after marking the prediction planned trajectory of the own vehicle, which is obtained by taking the 0 th second as the starting time of the prediction planning, a display interface of the 1 st second is displayed in the dynamic playing process, wherein the display interface of the 1 st second displays the prediction planned position of the prediction planned trajectory of the own vehicle at the 1 st second (i.e. the "prediction planned position of the own vehicle at the 0 th second" in the drawing), the actual position of the own vehicle at the 1 st second and the actual position of an obstacle at the 1 st second. According to the embodiment, the playing device can judge whether the predicted planned track of the own vehicle collides with the obstacle in the 1 st second according to the 0 th second predicted planned position of the own vehicle, the actual contour data of the own vehicle in the 0 th second, the actual position of the obstacle in the 1 st second and the actual contour data of the obstacle in the 1 st second, if so, the contour displayed at the 0 th second predicted planned position of the own vehicle can be marked red to warn, thereby helping engineers to quickly know the matching degree of the predicted planned track and the actual driving situation obtained by the automatic driving algorithm at the driving moment and helping to promote the predicted planning algorithm.
In one embodiment, the track data of each predicted planned track selected by the selection instruction further includes a weight corresponding to the predicted planned track. Specifically, the autopilot algorithm may give a plurality of planned trajectories to the own vehicle and a plurality of predicted trajectories to the same obstacle at each driving moment, and each planned trajectory and the plurality of predicted trajectories of the same obstacle may have different weights, where the weights reflect the amount of possibility that the own vehicle/obstacle moves along the trajectory.
The step of determining the first display transparency includes: and extracting a weight corresponding to the track position identifier from the target data, and determining the first display transparency based on the weight, wherein the first display transparency and the weight are in positive correlation or negative correlation.
In one embodiment, the first display transparency and the weight may be inversely related, in other words, the greater the weight, the lower the first display transparency, so that the display interface at the current playing time may preferentially and clearly display the predicted planned position with high possibility. As shown in fig. 6A and 6B, fig. 6A is a pause interface at 0 th second, and at 0 th second, the obstacle includes two predicted trajectories, and the weights of predicted trajectory 1 and predicted trajectory 2 are 0.9 and 0.1, respectively; the own vehicle comprises two planned tracks, and the weights of the planned track 1 and the planned track 2 are respectively 0.9 and 0.1. After marking the 4 predicted planned trajectories displayed on the pause interface, in the process of dynamic playing, the interface displayed by the playing device at the 1 st second time may be as shown in fig. 6B, where the predicted planned trajectory with a weight of 0.9 corresponds to a higher transparency, and the predicted planned trajectory with a weight of 0.1 corresponds to a lower transparency.
In this embodiment, the playing device may render multiple prediction planning positions of the same movable object through different transparency at the same time, so as to further compare the merits of different prediction planning schemes, and compare the weight allocation and the strength of different prediction planning schemes, thereby helping to promote the prediction planning algorithm.
In one embodiment, the method further comprises: for each track position identifier corresponding to the current playing time, if the track position identifier is a track identifier of a predicted planned track corresponding to marked track data, extracting an actual position of a movable object corresponding to the track position identifier at the current playing time from second track data cached in the local cache, and calculating a predicted deviation value corresponding to the track position identifier, wherein the actual position of the movable object corresponding to the track position identifier at the current playing time corresponds to a first target position corresponding to the track position identifier; the second track data is track data corresponding to the current playing time;
and generating a deviation data chart according to each predicted deviation value.
Specifically, the playing device may compare the marked predicted planned track in the local cache with the actual position to obtain predicted deviation values of each predicted planned track at the current playing time, and generate a deviation data chart according to the predicted deviation values. For example, for the pause interface shown in fig. 6A and 6B, if each predicted planned trajectory of the pause interface is cached, the playback device may obtain predicted deviation data shown in the following table:
Further, the playback device may display the deviation data chart so that the positional difference of the predictive planning algorithm may be graphically observed, enabling engineers to more microscopically accurately understand the deviation of the predictive planning algorithm from a theoretical perspective.
In one embodiment, for each track position identifier, if the track position identifier is a track identifier of a predicted planned track corresponding to the marked track data, determining target display data corresponding to the track position identifier according to the target data, otherwise, determining target display data corresponding to the track position identifier according to non-target data cached in the local cache, including:
responding to the track playing instruction, clearing unmarked cache data in the local cache, reading second track data from a playing file, and caching the second track data in the local cache; the second track data is track data corresponding to the current playing time.
Specifically, after receiving a track playing instruction input by a user, the playing device updates locally cached cache data. Specifically, the playing device clears the unmarked data in the local cache, reads track data corresponding to the current playing time from the playing file, and loads the read track data into the local cache, so that the playing device generates a display interface corresponding to the current playing time according to the cached data of the local cache. Therefore, under the condition that enough storage space in the local cache is ensured to load track data corresponding to the current playing time, the hardware requirement of the local cache can be reduced, and the equipment cost of playing equipment is further reduced.
In an example, as shown in fig. 7, the track display method of the present application may play the track according to an algorithm time axis and a regular time axis at the time of displaying the track, where the algorithm time axis is used for playing the track data of the marked predicted planned track, and the regular time axis is used for playing the actual data at the current playing time.
When the normal time axis is at the 0 th second, the playing device acquires track data corresponding to the 0 th second from the playing file, wherein the track data corresponding to the 0 th second comprises the actual positions of the vehicle and the obstacle at the 0 th second, the actual outlines of the vehicle and the obstacle at the 0 th second and track data of a plurality of predicted tracks of the vehicle and the obstacle at the 0 th second. Under the condition that a pause instruction is received or a track playing instruction is not received, the playing equipment responds to the selection instruction, determines a predicted planned track under the 0 th second selected by a user, marks track data of the selected predicted planned track, and keeps an actual contour corresponding to the predicted planned track and a predicted planned position of a movable object corresponding to the predicted planned track in a local cache at a plurality of moments, and clears other data in the local cache.
When the user drags the algorithm time axis, drags the regular time axis or triggers the playing control, the playing device can render according to the track data and the contour data of the predicted planned track cached in the local cache. The playing device can also perform superposition rendering according to the track data of the predicted planned track, the contour data at the pause time, the actual position at the current playing time and the contour data at the current playing time so as to perform dynamic comparison. Therefore, the matching degree of the predicted planning track profile and the actual track profile of the vehicle/obstacle can be dynamically compared, so as to help to promote the planning control algorithm; and whether the planned track of the vehicle collides with the actual contour of the obstacle can be dynamically analyzed so as to help promote the planning control algorithm.
The track display device provided in the embodiments of the present application will be described below, and the track display device described below and the track display method described above may be referred to correspondingly.
In one embodiment, the present application provides a track display apparatus 300, where the apparatus 300 is applied to a playback device, and the playback device is provided with a local buffer. As shown in fig. 8, the apparatus 300 includes:
A first interface rendering module 310, configured to render a pause interface according to the first track data cached in the local cache, so that the pause interface displays each predicted planned track of at least one movable object at a pause time; the first track data are track data under the pause time;
a data marking module 320, configured to mark target data in the first track data in response to a selection instruction for selecting at least one predicted planned track displayed by the pause interface, so as to keep the target data in the local cache when updating the cache data of the local cache; the target data comprise track data of each predicted planning track selected by the selection instruction;
the track position identification determining module 330 is configured to determine track position identifications of track positions to be displayed at the current playing time in response to the track playing instruction;
the target display data determining module 340 is configured to determine, for each of the track location identifiers, target display data corresponding to the track location identifier according to the target data if the track location identifier is a track identifier of a predicted planned track corresponding to the marked track data, or determine target display data corresponding to the track location identifier according to non-target data cached in the local cache;
And a second interface rendering module 350, configured to render the display interface at the current playing time according to each of the target display data.
In one embodiment, the track data of each predicted planned track selected by the selection instruction includes predicted planned positions of the movable object corresponding to the predicted planned track at a plurality of moments, and actual contour data of the movable object corresponding to the predicted planned track at the suspension moments.
The target display data determining module 340 includes a first data determining unit. The first data determining unit is configured to extract a first target position and first contour data from the target data, determine a first display color and a first display transparency, and use the first target position, the first contour data, the first display color, and the first display transparency as target display data corresponding to the track position identifier, where the first target position is a predicted planned position of a target track at the current playing time, the first contour data is actual contour data of a movable object corresponding to the target track at the pause time, and the target track is a predicted planned track corresponding to the track position identifier.
In one embodiment, the target display data determination module 340 includes a second data determination unit. The second data determining unit is configured to extract a second target position and second contour data from second track data cached in the local cache, determine a second display color and a second display transparency, and use the second target position, the second contour data, the second display color, and the second display transparency as target display data corresponding to the track position identifier, where the second track data is track data corresponding to the current playing moment, the second target position is an actual position of the movable object corresponding to the track position identifier at the current playing moment, and the second contour data is actual contour data of the movable object corresponding to the track position identifier at the current playing moment.
In one embodiment, any movable object is a vehicle or an obstacle. The apparatus 300 further includes a collision judgment module, configured to, if each track position identifier corresponding to the current playing time includes at least one vehicle track position identifier and at least one obstacle track position identifier, judge, for each vehicle track position identifier, whether a predicted planned track corresponding to the vehicle track position identifier collides with at least one obstacle at the current playing time according to a first target position corresponding to the vehicle track position identifier and a second target position corresponding to each obstacle track position identifier, and if the predicted planned track corresponding to the vehicle track position identifier collides with at least one obstacle at the current playing time, modify a first display color in target display data corresponding to the vehicle track position identifier to a third display color;
The track position mark of the own vehicle is a track mark of a predicted planning track of the own vehicle, and track data corresponding to the track position mark of the own vehicle is marked; the obstacle track position identifier is an actual position identifier of the obstacle.
In one embodiment, the track data of each predicted planned track selected by the selection instruction further includes a weight corresponding to the predicted planned track. The first data determining unit further includes a transparency determining unit, configured to extract a weight corresponding to the track position identifier from the target data, and determine the first display transparency based on the weight, where the first display transparency is positively or negatively related to the weight.
In one embodiment, the second interface rendering module 350 includes a display unit, where the display unit is configured to render, according to each of the target display data, the display interface at the current playing time, so that the display interface at the current playing time displays, at a position included in each of the target display data, a contour corresponding to the target display data according to a display color and transparency in the target display data.
In one embodiment, the apparatus 300 further includes a deviation value calculation module and a chart generation module. The deviation value calculating module is used for extracting the actual position of the movable object corresponding to the track position identifier at the current playing moment from the second track data cached in the local cache if the track position identifier is the track identifier of the predicted planning track corresponding to the marked track data, and calculating the predicted deviation value corresponding to the track position identifier according to the actual position of the movable object corresponding to the track position identifier at the current playing moment and the first target position corresponding to the track position identifier; the second track data is track data corresponding to the current playing time. The chart generation module is used for generating a deviation data chart according to each predicted deviation value.
In one embodiment, the apparatus 300 further includes a data update module, configured to, in response to the track play instruction, clear cache data that is not marked in the local cache, and read second track data from a play file, and cache the second track data in the local cache; the second track data is track data corresponding to the current playing time.
In one embodiment, the present application also provides a storage medium having stored therein computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the track display method as set forth in any one of the above embodiments.
In one embodiment, the present application also provides a computer device having stored therein computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the track display method as described in any of the embodiments above.
Schematically, as shown in fig. 9, fig. 9 is a schematic internal structure of a computer device provided in an embodiment of the present application, where the computer device 900 may be provided as a server. Referring to FIG. 9, a computer device 900 includes a processing component 902 that further includes one or more processors, and memory resources represented by memory 901, for storing instructions, such as applications, executable by the processing component 902. The application program stored in the memory 901 may include one or more modules each corresponding to a set of instructions. Further, the processing component 902 is configured to execute instructions to perform the trajectory display method of any of the embodiments described above.
The computer device 900 may also include a power component 903 configured to perform power management of the computer device 900, a wired or wireless network interface 904 configured to connect the computer device 900 to a network, and an input output (I/O) interface 905. The computer device 900 may operate based on an operating system stored in memory 901, such as Windows Server TM, mac OS XTM, unix, linux, free BSDTM, or the like.
It will be appreciated by those skilled in the art that the internal structure of the computer device shown in the present application is merely a block diagram of some of the structures related to the aspects of the present application and does not constitute a limitation of the computer device to which the aspects of the present application apply, and that a particular computer device may include more or less components than those shown in the figures, or may combine some of the components, or have a different arrangement of the components.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Herein, "a," "an," "the," and "the" may also include plural forms, unless the context clearly indicates otherwise. Plural means at least two cases such as 2, 3, 5 or 8, etc. "and/or" includes any and all combinations of the associated listed items.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A track display method, wherein the method is applied to a playback device, the playback device is provided with a local cache, and the method comprises:
rendering a pause interface according to the first track data cached in the local cache, so that the pause interface displays each predicted planning track of at least one movable object at the pause moment; the first track data are track data under the pause time;
Marking target data in the first track data in response to a selection instruction for selecting at least one predicted planned track displayed by the pause interface, so as to keep the target data in the local cache when the cache data of the local cache is updated; the target data comprise track data of each predicted planning track selected by the selection instruction;
in response to a track playing instruction, clearing unmarked cache data in the local cache, reading second track data from a playing file, caching the second track data in the local cache, and determining track position identifiers of track positions to be displayed at the current playing moment; the second track data is track data corresponding to the current playing time;
for each track position identifier, if the track position identifier is the track identifier of the predicted planned track corresponding to the marked track data, determining target display data corresponding to the track position identifier according to the target data, otherwise, determining target display data corresponding to the track position identifier according to non-target data cached in the local cache;
And rendering the display interface at the current playing time according to each target display data.
2. The method of claim 1, wherein the trajectory data of each predicted planned trajectory selected by the selection instruction includes predicted planned positions of the movable object corresponding to the predicted planned trajectory at a plurality of times, and actual profile data of the movable object corresponding to the predicted planned trajectory at the pause time;
the step of determining the target display data corresponding to the track position identifier according to the target data comprises the following steps:
and extracting a first target position and first contour data from the target data, respectively determining a first display color and a first display transparency, and taking the first target position, the first contour data, the first display color and the first display transparency as target display data corresponding to the track position mark, wherein the first target position is a predicted planning position of a target track at the current playing moment, the first contour data is actual contour data of a movable object corresponding to the target track at the pause moment, and the target track is a predicted planning track corresponding to the track position mark.
3. The method of claim 2, wherein the step of determining target display data corresponding to the track location identifier according to non-target data cached in the local cache comprises:
if the track position identifier is an actual position identifier, respectively extracting a second target position and second contour data from second track data cached in the local cache, determining a second display color and a second display transparency, and taking the second target position, the second contour data, the second display color and the second display transparency as target display data corresponding to the track position identifier, wherein the second track data is track data corresponding to the current playing moment, the second target position is an actual position of the movable object corresponding to the track position identifier at the current playing moment, and the second contour data is actual contour data of the movable object corresponding to the track position identifier at the current playing moment.
4. A method according to claim 3, wherein any movable object is a vehicle or an obstacle;
before the step of rendering the display interface at the current playing time according to each target display data, the method further includes:
If each track position identifier corresponding to the current playing time comprises at least one own vehicle track position identifier and at least one obstacle track position identifier, for each own vehicle track position identifier, judging whether a predicted planned track corresponding to the own vehicle track position identifier collides with at least one obstacle at the current playing time according to a first target position corresponding to the own vehicle track position identifier and a second target position corresponding to each obstacle track position identifier, and if the predicted planned track corresponding to the own vehicle track position identifier collides with at least one obstacle at the current playing time, modifying a first display color in target display data corresponding to the own vehicle track position identifier into a third display color;
the track position mark of the own vehicle is a track mark of a predicted planning track of the own vehicle, and track data corresponding to the track position mark of the own vehicle is marked; the obstacle track position identifier is an actual position identifier of the obstacle.
5. The method of claim 2, wherein the trajectory data for each predicted planned trajectory selected by the selection instruction further comprises a weight corresponding to the predicted planned trajectory;
The step of determining the first display transparency includes:
and extracting a weight corresponding to the track position identifier from the target data, and determining the first display transparency based on the weight, wherein the first display transparency and the weight are in positive correlation or negative correlation.
6. The method according to any one of claims 2 to 5, wherein the step of rendering the display interface at the current playing time from each of the target display data comprises:
and rendering the display interface at the current playing time according to each target display data, so that the display interface at the current playing time displays the outline corresponding to the target display data at the position included by each target display data according to the display color and the transparency in the target display data.
7. The method according to any one of claims 2 to 5, further comprising:
for each track position identifier corresponding to the current playing time, if the track position identifier is a track identifier of a predicted planned track corresponding to marked track data, extracting an actual position of a movable object corresponding to the track position identifier at the current playing time from second track data cached in the local cache, and calculating a predicted deviation value corresponding to the track position identifier, wherein the actual position of the movable object corresponding to the track position identifier at the current playing time corresponds to a first target position corresponding to the track position identifier; the second track data is track data corresponding to the current playing time;
And generating a deviation data chart according to each predicted deviation value.
8. A track display apparatus, the apparatus being applied to a playback device provided with a local cache, the apparatus comprising:
the first interface rendering module is used for rendering a pause interface according to the first track data cached in the local cache so that the pause interface displays each predicted planning track of at least one movable object at the pause moment; the first track data are track data under the pause time;
the data marking module is used for marking target data in the first track data in response to a selection instruction for selecting at least one predicted planned track displayed by the pause interface so as to keep the target data in the local cache when the cache data of the local cache are updated; the target data comprise track data of each predicted planning track selected by the selection instruction;
the track position identification determining module is used for responding to a track playing instruction, clearing unmarked cache data in the local cache, reading second track data from a playing file, caching the second track data in the local cache, and determining track position identifications of track positions to be displayed at the current playing moment; the second track data is track data corresponding to the current playing time;
The target display data determining module is used for determining target display data corresponding to the track position identifiers according to the target data if the track position identifiers are track identifiers of the predicted planned tracks corresponding to the marked track data, or determining target display data corresponding to the track position identifiers according to non-target data cached in the local cache if the track position identifiers are track identifiers of the predicted planned tracks corresponding to the marked track data;
and the second interface rendering module is used for rendering the display interface at the current playing time according to each target display data.
9. A storage medium having stored therein computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the track display method of any of claims 1 to 7.
10. A computer device, comprising: one or more processors, and memory;
stored in the memory are computer readable instructions which, when executed by the one or more processors, perform the steps of the trajectory display method of any one of claims 1 to 7.
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| CN112558834A (en) * | 2020-12-23 | 2021-03-26 | 安徽中科美络信息技术有限公司 | Method and device for smoothly displaying dynamic icons on human-computer interaction interface in vehicle management system |
| CN114559956A (en) * | 2022-02-23 | 2022-05-31 | 阿波罗智联(北京)科技有限公司 | Avoidance method, device and equipment for automatic driving vehicle and computer storage medium |
| CN114581870A (en) * | 2022-03-07 | 2022-06-03 | 上海人工智能创新中心 | Trajectory planning method, apparatus, device and computer-readable storage medium |
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