CN117519077A - Scene recharging method and device, electronic equipment, system and storage medium - Google Patents

Abstract

The invention discloses a scene recharging method, a scene recharging device, electronic equipment, a scene recharging system and a scene recharging storage medium. The method comprises the following steps: acquiring video data of a scene to which an automatic driving vehicle belongs and vehicle data of the automatic driving vehicle; time synchronizing the video data and the vehicle data; and transmitting the synchronized data to a controller of the automatic driving vehicle so as to realize the test of the controller based on the synchronized data. According to the technical scheme, the video data and the vehicle data of the scene of the automatic driving vehicle are acquired, the video data and the vehicle data are time-synchronized, and the synchronized data are recharged to the controller, so that the real vehicle scene can be easily and simply built, the test of the controller of the automatic driving vehicle is realized based on the real vehicle scene, the scene building efficiency is improved, the test difficulty is reduced, and the cost for solving the problem is reduced.

Description

Scene recharging method and device, electronic equipment, system and storage medium

Technical Field

The embodiment of the invention relates to the technical field of automatic driving, in particular to a scene recharging method, a scene recharging device, electronic equipment, a scene recharging system and a scene recharging storage medium.

Background

With the continuous development of the age, the requirements of people on the safety and the comfort of automobile driving are higher and higher, the requirements of advanced driving auxiliary systems are increased, sensors installed on the automobile are more and more, collected data are more and more, and the data are used for identifying obstacles, detecting distance accuracy, warning danger and the like. Implementation of these functions requires a large amount of data to verify and evaluate their reliability.

At present, the test and verification of an auxiliary driving system or a controller in the field are mostly realized by building a real scene, but the real scene for realizing the advanced automatic driving function is difficult to build, and most working conditions are relatively complex and dangerous; the scene of the problem in the real vehicle test process is not easy to store and is difficult to etch again, and the cost for solving the problem is very high.

Disclosure of Invention

The invention provides a scene recharging method, a scene recharging device, an electronic device, a scene recharging system and a storage medium, so that the scene can be easily and efficiently built, and the automatic driving function of a controller can be simply and efficiently tested.

In a first aspect, an embodiment of the present invention provides a scene recharging method, including:

acquiring video data of a scene to which an automatic driving vehicle belongs and vehicle data of the automatic driving vehicle;

time synchronizing the video data and the vehicle data;

and transmitting the synchronized data to a controller of the automatic driving vehicle so as to realize the test of the controller based on the synchronized data.

In a second aspect, an embodiment of the present invention provides a scene recharging apparatus, including:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring video data of a scene to which an automatic driving vehicle belongs and vehicle data of the automatic driving vehicle;

the synchronization module is used for performing time synchronization on the video data and the vehicle data;

and the transmission module is used for transmitting the synchronized data to the controller of the automatic driving vehicle so as to realize the test of the controller based on the synchronized data.

In a third aspect, an embodiment of the present invention provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the scene recharging method as described in the first aspect.

In a fourth aspect, an embodiment of the present invention provides a scene recharging system, including: the electronic device, the acquisition card, the device associated with vehicle data, and the controller of the third aspect; the electronic equipment is respectively connected with the acquisition card, equipment related to the vehicle data and the controller, and the controller is connected with the acquisition card;

the acquisition card is used for acquiring video data of a scene to which the automatic driving vehicle belongs;

the controller is used for responding to the synchronized data;

the vehicle data associated device is configured to obtain vehicle data of the autonomous vehicle.

In a fifth aspect, an embodiment of the present invention provides a computer readable storage medium storing computer instructions for causing a processor to implement the scene recharging method according to the first aspect.

The embodiment of the invention provides a scene recharging method, a scene recharging device, electronic equipment, a scene recharging system and a scene recharging storage medium. The method comprises the following steps: acquiring video data of a scene to which an automatic driving vehicle belongs and vehicle data of the automatic driving vehicle; time synchronizing the video data and the vehicle data; and transmitting the synchronized data to a controller of the automatic driving vehicle so as to realize the test of the controller based on the synchronized data. According to the technical scheme, the video data of the scene of the automatic driving vehicle and the vehicle data of the automatic driving vehicle are acquired, the video data and the vehicle data are processed in a time synchronization mode, and the synchronized data are recharged to the controller of the automatic driving vehicle, so that the real vehicle scene is built easily and simply, the test of the controller of the automatic driving vehicle is realized based on the real vehicle scene, the scene building efficiency is improved, the test difficulty is reduced, and the cost for solving the problem is reduced.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale.

Fig. 1 is a flowchart of a scene recharging method according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a scene recharging device according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of an electronic device according to a third embodiment of the present invention;

fig. 4 is a schematic diagram of a scene recharging system according to a fourth embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts steps as a sequential process, many of the steps may be implemented in parallel, concurrently, or with other steps. Furthermore, the order of the steps may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

It should be noted that the concepts of "first," "second," and the like in the embodiments of the present invention are merely used to distinguish between different devices, modules, units, or other objects, and are not intended to limit the order or interdependence of functions performed by the devices, modules, units, or other objects.

Example 1

Fig. 1 is a flowchart of a scene recharging method according to an embodiment of the present invention, which is applicable to a scene building with ease and high efficiency, so as to simply and efficiently test the autopilot function of a controller. Specifically, the scene recharging method can be executed by a scene recharging device, and the scene recharging device can be realized in a software and/or hardware mode and is integrated in the electronic equipment. Further, the electronic device includes, but is not limited to: desktop computers, notebook computers, upper computers, servers and other electronic devices.

As shown in fig. 1, the method specifically includes the following steps:

s110, acquiring video data of a scene to which the automatic driving vehicle belongs and vehicle data of the automatic driving vehicle.

In the present embodiment, an autonomous vehicle may be understood as a vehicle capable of realizing autonomous driving. For example, an intelligent vehicle that senses the road environment through an on-board sensing system, automatically plans a driving route and controls the vehicle to reach a reservation target. The scene may be understood as a scene where an autonomous vehicle is located, for example, a harbor scene, a mining area scene, an unmanned sanitation scene, an end distribution scene, an automatic parking scene, and the like.

The video data may be understood as video data acquired for a scene to which the autonomous vehicle belongs. The scene to which the autonomous vehicle belongs may be at least one scene to which the autonomous vehicle belongs. Accordingly, the video data of the scene to which the autonomous vehicle belongs may be video data of a road environment, video data of a road surface mark, and video data of a front obstacle.

Vehicle data may be understood as data relating to the autonomous vehicle itself, such as engine number, frame number, brand, vehicle model, acceleration, shift speed, steering, reverse, electric power, oil mass, vehicle positioning, speed and direction of travel, etc.

The video data can be acquired by video acquisition equipment on the automatic driving vehicle, and the electronic equipment can acquire the video data acquired by the video acquisition equipment. The video capture device may be a device that captures video, such as a capture card.

The collection mode of the vehicle data is not limited, and different vehicle data correspond to different devices associated with the vehicle data. The electronic device may obtain the collected vehicle data from the device with which the vehicle data is associated.

Specifically, by acquiring video data and vehicle data of different scenes, the automatic driving vehicle and the scene where the automatic driving vehicle is located can be fully known through the data as comprehensive as possible, and subsequent operation is facilitated.

It should be noted that, the electronic device is connected with the video capturing device and the device associated with the vehicle data, and when the electronic device starts the data obtaining program, the electronic device may start to obtain the video data and the vehicle data.

And S120, performing time synchronization on the video data and the vehicle data.

In this embodiment, time synchronization may be understood as synchronizing video data and vehicle data according to time, where the synchronized video data and vehicle data may be data collected at the same time, and may enable the data to conform to a vehicle body state.

For example, due to different devices for collecting video data and vehicle data, the collected data are different in time, and the obtained video data and vehicle data need to be synchronized according to a unified time scale, so that the data conform to the state of a controller of an automatic driving vehicle, and the data are convenient to recharge.

And S130, transmitting the synchronized data to a controller of the automatic driving vehicle so as to realize the test of the controller based on the synchronized data.

Specifically, the synchronous data is transmitted to the controller of the automatic driving vehicle through the electronic equipment, so that scene recharging is realized, real vehicle scene building can be easily realized based on the synchronous data recharged to the controller, the controller of the automatic driving vehicle is tested based on the real vehicle scene, the automatic driving function of the controller is fully known and optimized, the scene building efficiency is improved, meanwhile, the testing difficulty is reduced, and the cost for solving the problem is reduced; the scenes with problems in the testing process can be stored, and the scene library with related functions can be accumulated, so that the follow-up testing and verification work on different vehicle types can be facilitated.

It should be noted that, the electronic device is connected with the controller of the automatic driving vehicle, and the electronic device can transmit the synchronized data to the controller of the automatic driving vehicle to realize scene recharging.

The first embodiment of the invention provides a scene recharging method, which comprises the following steps: acquiring video data of a scene to which an automatic driving vehicle belongs and vehicle data of the automatic driving vehicle; time synchronizing the video data and the vehicle data; and transmitting the synchronized data to a controller of the automatic driving vehicle so as to realize the test of the controller based on the synchronized data. According to the technical scheme, the video data of the scene of the automatic driving vehicle and the vehicle data of the automatic driving vehicle are acquired, the video data and the vehicle data are processed in a time synchronization mode, and the synchronized data are recharged to the controller of the automatic driving vehicle, so that the real vehicle scene is built easily and simply, the test of the controller of the automatic driving vehicle is realized based on the real vehicle scene, the scene building efficiency is improved, the test difficulty is reduced, and the cost for solving the problem is reduced.

Optionally, the acquiring video data of the scene to which the autopilot vehicle belongs includes:

starting the controller, and triggering an acquisition card on the controller to acquire video data of a scene to which the automatic driving vehicle belongs;

and acquiring video data of a scene to which the automatic driving vehicle belongs, wherein the video data are acquired by an acquisition card on the controller.

In one embodiment, the capture card may be understood as a capturing device for capturing analog signals such as photoelectric, video, audio, etc. and digitally importing the analog signals into a computer for digital processing, for example, a video capture card.

The controller is started, and the acquisition card on the controller is triggered to start video data acquisition work, so that the acquisition card acquires video data of a scene of the automatic driving vehicle in a visible range. The acquisition card is controlled to start working by starting the controller, so that the controller can acquire video data in real time through the acquisition card when in a working state, the video data of scenes of the automatic driving vehicle can be acquired in real time, further, scenes which generate problems can be stored in real time, and a scene library with related functions can be accumulated in real time.

It should be noted that, the transmission of video data may be achieved by a Real-time transmission protocol (Real-time Transport Protocol, RTP) and a Real-time transmission control protocol (RTP Control Protocol, RTCP), that is, the video data may be injected or recharged into the controller by the RTCP protocol and the RTP protocol, where the RTCP protocol may implement the transmission of control instructions of the video data, such as playing, suspending, stopping, and the like, of the video data; the RTP protocol may transport actual video streaming data.

Optionally, the vehicle data includes vehicle body data and radar data, and correspondingly, acquiring vehicle data of an automatic driving vehicle includes: and acquiring the vehicle data of the automatic driving vehicle acquired by the equipment associated with the vehicle data.

In one embodiment, body data may be understood as data of the autonomous vehicle itself, such as a transmitter number, a brand, a vehicle type, and an oil amount. Radar data may be understood as data acquired by radar signals, which may be acquired by radar devices such as, but not limited to, lidar, ultrasonic radar, angle radar, etc. The radar data may be, for example, vehicle positioning, travel speed, direction, and the like. The device associated with the vehicle data may be understood as a device for acquiring the vehicle data, which may be installed at various positions of the autonomous vehicle, for example, a camera, a laser radar, an ultrasonic radar, a sensor, and the like.

Optionally, the time synchronizing the video data and the vehicle data includes:

and synchronizing the collected video data and the vehicle data according to the collected frame number or time stamp.

In one embodiment, the frame number may be understood as the number of video data per frame. A frame is understood to be a unit of video data transmission. The timestamp may refer to a representation of time.

The video data a, the video data B, the vehicle data C and the vehicle data D of the autonomous vehicle are acquired by the acquisition card, and the video data a, the video data B, the vehicle data C and the vehicle data D need to be synchronized according to the acquired frame numbers or time stamps, so that the data acquisition devices (such as the acquisition card or the devices associated with the vehicle data) are aligned with the controller, the data synchronization in the same scene is realized, the data accords with the state of the controller of the autonomous vehicle, and the data recharging is convenient.

Optionally, the video data and the vehicle data are data acquired in a real scene or data of a virtual scene.

In one embodiment, a real scene may be understood as a scene in which an autonomous vehicle works in a real existing scene. Virtual scenes can be understood as scenes meeting the requirements constructed by researchers according to experience or actual requirements.

Specifically, the video data and the vehicle data are data acquired in a real scene or data of a virtual scene, that is, in an embodiment, the data of the real scene can be injected or recharged into a controller of an automatic driving vehicle to realize the test of the controller, and the data of the virtual scene can be injected or recharged into the controller of the automatic driving vehicle to realize the test of the controller, that is, the scene recharge has higher flexibility, and different requirements can be met.

Optionally, the scene recharging method further includes:

and acquiring feedback data of the controller, wherein the feedback data is data indicating the controller to respond to the synchronized data.

The electronic device may acquire feedback data of the controller. The feedback data may be displayed in a form or numerical form by the electronic device, or may be visually displayed by the electronic device, which is not limited thereto.

Specifically, after the electronic device injects the synchronized video data and the vehicle data into the controller, feedback data of the controller may also be obtained, so as to determine whether the controller can correctly respond to the synchronized data.

Example two

Fig. 2 is a schematic structural diagram of a scene recharging device according to a second embodiment of the present invention, where the device may execute the scene recharging method according to the embodiment of the present invention. The scene recharging device provided in this embodiment includes:

an obtaining module 210, configured to obtain video data of a scene to which an autonomous vehicle belongs and vehicle data of the autonomous vehicle;

a synchronization module 220 for time synchronizing the video data and the vehicle data;

and the transmission module 230 is configured to transmit the synchronized data to a controller of the autonomous vehicle, so as to implement a test on the controller based on the synchronized data.

Optionally, on the basis of the above embodiment, the obtaining module 210 includes:

the triggering unit is used for starting the controller and triggering the acquisition card on the controller to acquire video data of a scene to which the automatic driving vehicle belongs;

the first acquisition unit is used for acquiring video data of the scene of the automatic driving vehicle acquired by the acquisition card on the controller.

Optionally, on the basis of the foregoing embodiment, the vehicle data includes vehicle body data and radar data, and correspondingly, the acquiring module 210 includes:

and the second acquisition unit is used for acquiring the vehicle data of the automatic driving vehicle acquired by the equipment associated with the vehicle data.

Optionally, based on the above embodiment, the synchronization module 220 includes:

and the first synchronization unit is used for synchronizing the collected video data and the vehicle data according to the collected frame number or time stamp.

Optionally, on the basis of the foregoing embodiment, the video data and the vehicle data are data acquired in a real scene or data of a virtual scene.

Optionally, on the basis of the foregoing embodiment, the apparatus further includes:

and the feedback data acquisition module is used for acquiring feedback data of the controller, wherein the feedback data is data indicating the controller to respond to the synchronized data.

The scene recharging device provided by the second embodiment of the invention can be used for executing the scene recharging method provided by any embodiment, and has corresponding functions and beneficial effects.

Example III

Fig. 3 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. The electronic device 10 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device 10 may also represent various forms of mobile equipment, such as personal digital assistants, cellular telephones, smartphones, user equipment, wearable devices (e.g., helmets, eyeglasses, watches, etc.), and other similar computing equipment. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 3, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks, wireless networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a scene recharging method.

In some embodiments, the scene recharging method can be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. One or more steps of the methods described above may be performed when the computer program is loaded into RAM 13 and executed by processor 11. Alternatively, in other embodiments, the processor 11 may be configured to perform the scene recharge method in any other suitable way (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device 10, the electronic device 10 having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or trackball) by which a user can provide input to the electronic device 10. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

Example IV

Fig. 4 is a schematic diagram of a scene recharging system according to a fourth embodiment of the present invention. Wherein, as shown in fig. 4, the system comprises: the electronic device 10, the acquisition card 420, the vehicle data-associated device 430 and the controller 440 described in embodiment three; the electronic device 10 is respectively connected with the acquisition card 420, the device 430 related to the vehicle data and the controller 440, and the controller 440 is connected with the acquisition card 420; the acquisition card 420 is used for acquiring video data of a scene to which the automatic driving vehicle belongs; the controller 440 is configured to respond to the synchronized data; the vehicle data association device 430 is configured to obtain vehicle data of the autonomous vehicle.

Specifically, the scene recharging system includes an electronic device 10, an acquisition card 420, a device 430 associated with vehicle data and a controller 440, where the electronic device 10 is connected with the acquisition card 420, the device 430 associated with vehicle data and the controller 440, the controller 440 is connected with the acquisition card 420, the acquisition card 420 acquires video data of a scene to which an autonomous vehicle belongs, the device 430 associated with vehicle data acquires vehicle data of the autonomous vehicle, the electronic device 10 performs time synchronization on the video data and the vehicle data, and then transmits the synchronized data to the controller 440, thereby realizing scene recharging, and the controller 440 responds to the synchronized data and realizing testing of the controller 440.

Optionally, the electronic device 10 starts the controller 440 to trigger the acquisition card 420 to acquire video data of a scene to which the autonomous vehicle belongs; video data of a scene to which the autonomous vehicle belongs, which is acquired by the acquisition card 420 connected to the controller 440, is acquired.

Optionally, the vehicle data includes body data and radar data.

Optionally, the electronic device 10 synchronizes the acquired video data with the vehicle data by the acquired frame number or time stamp.

Optionally, the video data and the vehicle data are data acquired in a real scene or data of a virtual scene.

The scene recharging system provided by the fourth embodiment can be used for executing the scene recharging method provided by any of the above embodiments, and has corresponding functions and beneficial effects.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A scene recharging method, comprising:

acquiring video data of a scene to which an automatic driving vehicle belongs and vehicle data of the automatic driving vehicle;

time synchronizing the video data and the vehicle data;

and transmitting the synchronized data to a controller of the automatic driving vehicle so as to realize the test of the controller based on the synchronized data.

2. The method of claim 1, wherein the acquiring video data of a scene to which the autonomous vehicle belongs comprises:

starting the controller, and triggering an acquisition card on the controller to acquire video data of a scene to which the automatic driving vehicle belongs;

and acquiring video data of a scene to which the automatic driving vehicle belongs, wherein the video data are acquired by an acquisition card on the controller.

3. The method of claim 1, wherein the vehicle data includes body data and radar data, and wherein the acquiring vehicle data for the autonomous vehicle includes: and acquiring the vehicle data of the automatic driving vehicle acquired by the equipment associated with the vehicle data.

4. The method of claim 1, wherein the time synchronizing the video data and the vehicle data comprises:

and synchronizing the collected video data and the vehicle data according to the collected frame number or time stamp.

5. The method of claim 1, wherein the video data and the vehicle data are data acquired in a real scene or data of a virtual scene.

6. The method as recited in claim 1, further comprising:

and acquiring feedback data of the controller, wherein the feedback data is data indicating the controller to respond to the synchronized data.

7. A scene recharging device, comprising:

the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring video data of a scene to which an automatic driving vehicle belongs and vehicle data of the automatic driving vehicle;

the synchronization module is used for performing time synchronization on the video data and the vehicle data;

and the transmission module is used for transmitting the synchronized data to the controller of the automatic driving vehicle so as to realize the test of the controller based on the synchronized data.

8. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the scene recharging method of any of claims 1-6.

9. A scene recharging system comprising the electronic device, the acquisition card, the device associated with vehicle data and the controller according to claim 8; the electronic equipment is respectively connected with the acquisition card, equipment related to the vehicle data and the controller, and the controller is connected with the acquisition card;

the acquisition card is used for acquiring video data of a scene to which the automatic driving vehicle belongs;

the controller is used for responding to the synchronized data;

the vehicle data associated device is configured to obtain vehicle data of the autonomous vehicle.

10. A computer readable storage medium storing computer instructions for causing a processor to implement the scene recharge method of any one of claims 1-6 when executed.