Method, device, storage medium and electronic device for acquiring simulation data set
A technology of simulation data and acquisition method, which is applied in the direction of registration/instruction of vehicle operation, registration/instruction, instruments, etc., and can solve problems such as high cost of simulation data and out-of-sync simulation data
Active Publication Date: 2022-08-02
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]The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, but not to limit the present disclosure. The implementations described in the illustrative examples below are not intended to represent all implementations consistent with this disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as recited in the appended claims.
[0049] The inventor found that in the related art, 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 be 20H...
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The present disclosure relates to a method, device, storage medium and electronic device for acquiring a simulation data set, and relates to the field of automatic driving simulation. The problem 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 is solved. The method includes: setting global unique identifiers respectively for multiple objects included in the simulation scene; determining the synchronization time points of the multiple simulation sensors according to the sampling frequencies of the multiple simulation sensors in the simulation scene; Simulate the dynamic data of the target object collected by the sensor at the synchronization time point, and establish a first mapping relationship between the dynamic data and the synchronization time point; according to the first mapping relationship, the dynamic data of the target object and the static data of the simulation scene, Generate a simulation dataset.
Description
technical field [0001] The present disclosure relates to the field of automatic driving simulation, and in particular, to a method, apparatus, storage medium and electronic device for acquiring a simulation data set. Background technique [0002] At present, vision-based deep learning algorithms are mainly used for autonomous driving perception. Deep learning algorithms require a large amount of data to train models, and the use of simulated data sets to assist in training perception algorithms is a direction of current research 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 sensors. The sensor data is perfectly aligned. For example, the camera collected the image at 0.51s, but the lidar may collect the data at 0.52s, and t...
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IPC IPC(8): G05B17/02
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