Simulation data set acquisition method and device, storage medium and electronic equipment
A technology of simulation data and acquisition method, applied in the directions of registration/indication of vehicle operation, registration/indication, instruments, etc., can solve the problems of asynchrony of simulation data and high cost of simulation data
Active Publication Date: 2021-01-29
万物镜像(北京)计算机系统有限公司
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[0004] The purpose of this disclosure is to provide a method, device, storage medium and electronic equipment for obtaining a simulation data set, which can solve the technical problems in the related art that the simulation data obtained by each sensor is not synchronized and the cost of obtaining the simulation data is high
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[0048]Specific embodiments of the present disclosure will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present disclosure, and are not intended to limit the present disclosure. The implementations described in the following exemplary examples do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with aspects of the present disclosure as recited in the appended claims.
[0049] The inventor found that in related technologies, all sensors on the vehicle need to be simulated at the same time, which may include 9 cameras, 5 lidars, 6 millimeter-wave radars and so on. Each sensor operates according to its own sampling frequency. For example, the sampling frequency of the camera may be 30Hz, the sampling frequency of the millimeter-wave radar may b...
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The invention relates to a simulation data set acquisition method and device, a storage medium and electronic equipment, which relate to the field of automatic driving analog simulation. The problemsthat simulation data obtained through all sensors are not synchronous and the cost of obtaining the simulation data is high in the prior art are solved. The method comprises the following steps of respectively setting a globally unique identifier for a plurality of objects contained in a simulation scene, determining synchronization time points of the plurality of simulation sensors according to the sampling frequencies of the plurality of simulation sensors in the simulation scene, when the simulation scene is played back, acquiring dynamic data of the target object acquired by the pluralityof simulation sensors at the synchronization time point, and establishing a first mapping relationship between the dynamic data and the synchronization time point, and generating a simulation data setaccording to the first mapping relationship, the dynamic data of the target object and the static data of the simulation scene.
Description
technical field [0001] The present disclosure relates to the field of automatic driving simulation, and in particular, to a method, device, storage medium and electronic equipment for obtaining a simulation data set. Background technique [0002] Currently, autonomous driving perception mainly uses vision-based deep learning algorithms, which require a large amount of data to train models, and using simulation data sets to assist in training perception algorithms is a current research direction in the industry. [0003] In related technologies, a main server is generally used to control and coordinate all sensors. Each sensor operates at its own frame rate and generates image or point cloud data. Although there is hardware time synchronization between sensors, they do not guarantee multiple The sensor data is perfectly aligned. For example, the camera collects images at 0.51 seconds, but the lidar may collect data at 0.52 seconds, and the millimeter-wave radar may collect d...
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Login to View More IPC IPC(8): G07C5/08
CPCG07C5/0841
Inventor 张安春鲍世强汪杰
Owner 万物镜像(北京)计算机系统有限公司