Driving simulation image rendering method and device, simulator and storage medium

[0046] 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.

[0047] Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. Where the following description refers to the drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. 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.

[0048] It should be noted that all the actions of obtaining signals, information or data in the present disclosure are carried out under the premise of complying with the corresponding data protection laws and policies of the local country, and under the condition of obtaining authorization from the corresponding device owner.

[0049] With the popularization of automobiles, people need to obtain a driver's license before they can drive vehicles on the road. In order to shorten the training time of driving training institutions, reduce the cost of training using real vehicles, and ensure the personal safety of beginners, it is proposed to use driving simulators. The software simulates the operation of the kinematics, electrical system and environment of the vehicle, and uses a simulated physical cockpit for the user to operate, and displays the virtual scene outside the vehicle through one or more display screens. However, in the related art, the road and the vehicles on the road are generally generated by computer simulation, and the trainee cannot truly feel the road conditions during the driving test, resulting in poor training effect.

[0050] In order to solve the problems existing in the related art, the present application provides an image rendering method, device, driving simulator, storage medium and electronic device for simulating driving.

[0051] figure 1 It is an image rendering method for simulating driving according to an exemplary embodiment, which is applied to a driving simulator. Specifically, the execution body of the method may be a central processing unit or a graphics processing unit in the driving simulator.

[0052]Optionally, the driving simulator may be a VR-based driving simulator, including a control cockpit, and the cockpit includes a steering wheel, an accelerator pedal, a brake pedal and a clutch pedal, a data acquisition module, a driving simulation simulation software, and a VR display device for simulating driving scenarios. , the output end of the control cockpit is connected to the input end of the data acquisition module through the CAN controller, the output end of the data acquisition module is connected to the input end of the computer-side driving simulation software, and the output end of the driving simulation software is connected to the simulated driving scene. The VR display device, through the above device, can realize that the user's operation for controlling the cockpit can be fed back to the VR display device of the driving simulator, so that the user can experience a more realistic driving experience.

[0053] The method includes:

[0054] S101. Acquire a driving image of the vehicle collected by a camera disposed on the data collection vehicle while driving along the driving test road section.

[0055] The driving test section may be the test section of subject 3 in a certain test room. In some optional embodiments, the same data collection vehicle may drive along the driving test sections of multiple test centers to obtain driving videos of the driving test sections in different test centers. Alternatively, multiple vehicle driving images may be acquired and collected in the same driving test section.

[0056] For example, the camera can be a 360-degree three-primary-color panoramic camera, or two sets of binocular cameras, one set of binocular cameras is used to capture images in front of the vehicle, and one set is used to capture images behind the vehicle, and a multi-camera array can also be set. , the images obtained by the multi-camera array are stitched into a panoramic image according to a preset algorithm. In some possible implementations, a lidar sensor may also be provided, so that the data collection vehicle can more accurately collect the distances between nearby vehicles.

[0057] It should be understood that, since the omnidirectional road images of the accessories of the data acquisition vehicle and the nearby vehicle images need to be collected, a panoramic image is required to ensure that the data during driving will not be missing.

[0058] In addition, the vehicle driving image may be in the form of a video, or may be an image frame collected according to a preset sampling period, which is not limited in the present disclosure.

[0059] The driving image of the vehicle may be collected by the camera of the data collection vehicle, and then sent to the data collection platform or server through a wireless network, and then obtained by the driving simulator from the platform or server through a wired network or wireless network or other communication methods.

[0060] In some possible implementations, an electronic fence can also be set on the driving test road section, and in response to the vehicle equipped with a camera entering the electronic fence, the driving path of the vehicle is detected, and if the driving path matches the driving test path, then The vehicle is used as a data collection vehicle, and the vehicle driving images and driving data of the vehicle in the electronic fence are acquired.

[0061] S102. Determine road data and other vehicle data during the driving process of the data acquisition vehicle according to the driving data of the data acquisition vehicle and the vehicle driving image.

[0062] The driving data may include information such as the speed of the vehicle, the lane in which the vehicle travels, the gear position of the vehicle, and the like. It should be understood that the other vehicle data refers to the driving data of one or more other vehicles on the road except the data collection vehicle, such as vehicle speed, driving lane, vehicle size, and distance from the data collection vehicle.

[0063] Specifically, the road data may be three-dimensional image data including lane information, lane width, pothole sections, traffic light information, and the like.

[0064] Wherein, according to the driving data of the data collection vehicle and the driving image of the vehicle, a specific implementation manner of determining the road data may be obtained by inputting the driving data and the driving image of the vehicle into a preconfigured road recognition model.

[0065] Exemplarily, the driving data and the vehicle driving image are input into a pre-configured road recognition model, the road recognition model detects the road width and the road lane line according to the image frame in the vehicle driving image, and collects the driving lane of the vehicle according to the data, A three-dimensional image is generated as the road data.

[0066] Similarly, according to the driving data of the data collection vehicle and the driving image of the vehicle, it is determined that other vehicle data in the driving process of the data collection vehicle may be inputting the driving data and the driving image of the vehicle into a pre-trained target detection model, The target detection model detects other vehicle data such as the driving speed and driving lane of other vehicles appearing in the vehicle driving image, and outputs the other vehicle data.

[0067] S103. In response to the user's start of a simulated driving operation, render a virtual road in a three-dimensional virtual scene according to the road data.

[0068] It can be understood that the user's operation of starting the simulated driving may be that the user clicks a certain physical button on the driving simulator, or the virtual button of "start simulation" on the display of the driving simulator, or makes a voice of "start simulation". It is indicated that the present disclosure is not limited thereto.

[0069] Those skilled in the art should know that the virtual road rendered in the 3D virtual scene may include all the information included in the road data, such as lane information, traffic light information, etc. The driving simulator may be configured with a 3D graphics interface and a 3D game engine , the three-dimensional graphics interface may include OpenGL, Metal, and Direct3D, and the three-dimensional game engine may include Unity and Unreal, etc. The specific graphics rendering and display methods are not limited in this disclosure.

[0070] S104. Render the simulated vehicle on the virtual road, so that the driving simulator controls the simulated vehicle to drive on the virtual road in response to an operation instruction of the user.

[0071] It should be understood that the driving simulator is provided with devices such as accelerator pedal, clutch pedal, brake pedal, steering wheel, etc., and can collect signals from devices such as accelerator pedal, clutch pedal, brake pedal, steering wheel, etc., and control the virtual scene according to the signal. The movement and motion parameters of the vehicle are simulated, so that the user can experience the operational feedback during real driving.

[0072] S105. Render other vehicles in the three-dimensional virtual scene according to the driving situation of the simulated vehicle on the virtual road and the other vehicle data.

[0073] For example, in the case that there is a vehicle changing from the first lane to the second lane where the data collection vehicle is located at a speed of 70 yards according to the other vehicle data obtained in step S102, if the simulated vehicle is in the second lane of the virtual road. If driving in the lane, a virtual other vehicle can be rendered in the three-dimensional virtual scene, changing from the first lane of the virtual road to the second lane.

[0074] In the embodiment of the present disclosure, the data collection vehicle drives on the real driving test section to collect road information on the real driving test section and the driving conditions of other vehicles, and renders the driving simulator according to the collected data. The displayed simulation scene can make the simulation scene in the driving simulator more in line with the real driving test road conditions, so that the driver students can experience the real driving test road scene more realistically during the simulated driving test.

[0075] In some optional embodiments, the determining of road data and other vehicle data during driving of the data collection vehicle according to the driving data of the data collection vehicle and the vehicle driving image includes:

[0076] In response to detecting that the distance between other vehicles and the data collection vehicle in the vehicle driving image is less than the preset distance threshold and the first duration exceeds the preset duration threshold, record the first time between the other vehicle and the data collection vehicle. The spacing is less than the first position of the preset threshold;

[0077] Determine the relative speed and lane information when the distance between the other vehicle and the data collection vehicle is less than a preset threshold;

[0078] The rendering of other vehicles in the three-dimensional virtual scene according to the driving conditions of the simulated vehicle on the virtual road and the other vehicle data includes:

[0079] When it is determined that the simulated vehicle travels to the first position on the virtual road, the other vehicle is rendered according to the first duration, relative speed and lane information.

[0080] The preset distance threshold may be 20 meters, 30 meters or 100 meters, which is not limited in this disclosure, as long as the vehicles within the preset distance threshold may affect the driving conditions of the data collection vehicle or the driving test vehicle, Or it can appear in the driver's field of vision. For example, if the vehicle exceeds 40 meters, it will not affect the driving test vehicle, so there is no need to obtain the driving data of the vehicle. The preset duration threshold may be 10 seconds or 20 seconds, which is not specifically limited in the present disclosure. It should be understood that when the vehicle is kept within a certain speed range, the distance between other vehicles and the data collection vehicle may fluctuate around the preset distance threshold. If the preset duration threshold is not set, the other vehicles may be repeatedly collected. The driving data of the vehicle, which leads to the need to repeatedly generate and delete the simulated vehicle during rendering, resulting in a waste of resources.

[0081] It should also be understood that if the driving speed of the data collection vehicle is fast when collecting data, and the driving speed of the simulated vehicle is slow when the user is simulating driving, if the vehicle is still rendered according to the actual collected data of other vehicles, it may be As a result, the simulated vehicle does not encounter any other vehicle during the simulation process. In order to solve this possible technical problem, this solution records the location of other vehicles (that is, the distance from the data collection vehicle for the first time is less than the preset threshold value). The first position), when the simulated vehicle travels to this position, according to the relative speed and lane information, and within the time period that the other vehicle may affect the simulated vehicle, the vehicle is rendered again, which can avoid invalid model rendering. Save data processing resources for this driving simulator.

[0082] In some possible implementations, if the simulated vehicle in the virtual scene exceeds other vehicles within the first time period, and the second time period when the distance is greater than the preset distance threshold exceeds the second time period threshold, and the first time period is not reached in time, Rendering of this other vehicle is also stopped to further save data processing resources.

[0083] In other possible implementations, the method includes:

[0084] According to the input information of the user, determine the target driving test section of the user;

[0085] In step S102, the determining of road data and other vehicle data during the driving process of the data collection vehicle according to the driving data of the data collection vehicle and the vehicle driving image includes:

[0086] Road data and other vehicle data corresponding to the target driving test section are determined according to the driving data and vehicle driving images of the data collecting vehicle on the target driving test section.

[0087] It should be understood that, after determining the road data and other vehicle data corresponding to the target driving test section in step S102, steps S103 to S105 may also be performed based on the road data and other vehicle data corresponding to the target driving test section.

[0088] For example, the input information of the user may be the name of the test room where the user signs up for the test, such as the XX test room, then the subject 3 test section of the test room may be determined according to the XX test room to be XXX Road to XXXX Road, if the data collection vehicle collects XXX Road The driving data of the road to XXXX and the driving image of the vehicle, the road data and other vehicle data of the road section can be determined according to the driving data and the driving image of the vehicle, so as to render the road and other vehicles in the virtual scene. In some possible implementations, if the data collection vehicle does not pass the road section, the road section information can be sent to the data collection platform, so that the relevant staff can collect the data of the road section.

[0089] With this solution, the road section that the user wants to simulate can be determined according to the user's input information, and the road data and other vehicle data of the road section can be determined according to the pre-collected data collection of the driving data of the vehicle on the road section and the driving image of the vehicle, and then The virtual scene is rendered so that the user can more realistically experience the road conditions of the test section that the user wants to simulate, which further enables the user to understand the real road conditions and improves the success rate of the driving test.

[0090] In yet other possible embodiments, the method includes:

[0091] Obtain the assessment standard corresponding to the target driving test road section;

[0092] According to the driving situation of the simulated vehicle on the virtual road, it is determined whether the user has passed the simulated assessment.

[0093] For example, the assessment criteria for the target driving test section include decelerating and yielding at the first intersection, changing lanes at the third position, and the like. If the driving situation of the simulated vehicle on the virtual road indicates that the simulated vehicle does not decelerate at the first intersection at the first intersection, and the turn signal is turned on when changing lanes at the third position, it can be determined that the user has not passed the Mock exam. If the driving situation of the simulated vehicle on the virtual road indicates that the simulated vehicle satisfies all the assessment standards corresponding to the target driving test road section during the driving process, or the points deducted during the driving process are less than the preset score threshold, it can be determined that the simulated vehicle Users pass the simulation test.

[0094] Further, in some possible implementations, when it is determined that the user has not passed the simulation assessment, the user's deduction point information can also be determined according to the driving situation of the simulated vehicle on the virtual road and the assessment standard, and The point deduction point information is sent to the user or the coach, so that the user or the coach can make improvements in a targeted manner, so as to increase the user's passing rate of the test.

[0095] By adopting this scheme, by obtaining the assessment standards of the target driving test section, and determining whether the simulated user passes the simulated assessment according to the driving conditions of the simulated vehicle on the virtual road, the simulated user can experience the actual situation of the test more realistically, and can be more realistic. Targeted training.

[0096] In some optional embodiments, the data collection vehicle is a real driving test vehicle, and the method includes:

[0097] collecting the voice instruction of the driving test vehicle, and recording the second position where the voice instruction is issued;

[0098] The voice instruction is played when it is determined that the simulated vehicle travels on the virtual road to the second location.

[0099] Wherein, a microphone can be set on the driving test vehicle as the data collection vehicle to obtain voice instructions. It can be understood that there can be multiple second positions. For example, at the A-th meter after starting to drive, if a voice instruction is issued to "change lanes to the left", a second position can be recorded as the A-th meter. The B-th meter, issuing a voice instruction "U-turn", you can record another second position as the B-th meter.

[0100] Further, whether the user has passed the simulation assessment can also be determined according to the driving situation of the simulated vehicle on the virtual road and the operation corresponding to the voice instruction.

[0101] For example, if the voice instructs the user to change lanes to the left at the A-th meter after starting to drive, if the simulated vehicle is within the A-th to A+N-th meters of the virtual road, there is no operation to change lanes to the left, or there is a lane change to the left. If the operation of changing lanes to the left is performed, but the operation of turning on the left turn signal is not performed, it can be determined that the user fails the simulation assessment.

[0102] Using this solution, by collecting the real voice instructions on the real driving test vehicle, and when the simulated vehicle is driving on the virtual road, if it reaches the position corresponding to the voice instruction, the voice instruction will be played to prompt the simulated user to perform the corresponding operation, which can further It makes the simulated scene more in line with the real driving test scene and improves the training efficiency of users.

[0103] In still some optional embodiments, the obtaining of the vehicle driving images collected by the camera disposed on the data collection vehicle along the driving test road section includes:

[0104] When it is determined that the test trainee of the driving test vehicle passes the test, a driving image of the vehicle collected by a camera disposed on the driving test vehicle traveling along the driving test road section is acquired.

[0105] Optionally, the other vehicle data may also include the size data of the vehicle, and the vehicle type is determined according to the size data. For example, if the size of a vehicle is 4 meters in length, 1.5 meters in width, and 1.4 meters in height, it can be determined that the other vehicle is For a car, if the size of a vehicle is 4.2 meters in length, 1.9 meters in width and 1.8 meters in height, it can be determined that the other vehicle is a small truck. When rendering other vehicles in step S105, other vehicles of different sizes and types may also be rendered according to the types of other vehicles. For example, if the data collection vehicle collects that other vehicle A is a car, when rendering other vehicle A, it renders other virtual vehicles with a smaller volume; if it collects that other vehicle B is a large truck, it renders other vehicles. When vehicle B is used, other virtual vehicles with larger volumes are rendered. By adopting this solution, the type of vehicles traveling on the driving test road section can be more truly reflected.

[0106] Based on the same inventive concept, figure 2 is another flowchart of an image rendering method for simulating driving according to an exemplary embodiment, such as figure 2 As shown, the method includes the steps:

[0107] S201. Determine the target driving test road section of the user according to the input information of the user.

[0108] Wherein, the user may input information on other electronic devices and then send the information to the executing subject of the method, which is not limited in the present disclosure.

[0109] S202. Obtain the assessment standard corresponding to the target driving test road section.

[0110] For example, the assessment criteria for the target driving test section include decelerating and yielding at the first intersection, changing lanes at the third position, and the like. In step S212, if the driving situation of the simulated vehicle on the virtual road indicates that the simulated vehicle does not decelerate at the first intersection at the first intersection, and the turn signal is turned on when changing lanes at the third position, it can be determined that The user failed the simulation assessment. If the driving situation of the simulated vehicle on the virtual road indicates that the simulated vehicle satisfies all the assessment standards corresponding to the target driving test road section during the driving process, or the points deducted during the driving process are less than the preset score threshold, it can be determined that the simulated vehicle Users pass the simulation test.

[0111] S203 , acquiring a driving image and driving audio of the vehicle collected by a camera disposed on the real driving test vehicle driving along the target driving test road section.

[0112] S204. Collect the voice instruction of the driving test vehicle according to the driving audio, and record the second position where the voice instruction is issued.

[0113] Specifically, in this step S204, the driving audio can be input into the pre-trained speech recognition model, the speech indication in the driving audio can be detected by the speech recognition model, and the time when the speech indication is detected is recorded, and the The second position from which the voice indication is issued.

[0114] It should be understood that there can be multiple second positions. For example, at the A-th meter after starting to drive, a voice instruction "change lanes to the left" is issued, and a second position can be recorded as the A-th meter. The B-th meter, issuing a voice instruction "U-turn", you can record another second position as the B-th meter. In step S212, it may be determined whether the user passes the simulation assessment according to the driving situation of the simulated vehicle on the virtual road and the operation corresponding to the voice instruction. For example, if the voice instructs the user to change lanes to the left at the A-th meter after starting to drive, if the simulated vehicle is within the A-th to A+N-th meters of the virtual road, there is no operation to change lanes to the left, or there is a left lane change. The operation of changing lanes, but without the operation of turning on the left turn signal, it can be determined that the user has failed the simulation assessment.

[0115] S205 , input the driving data of the driving test vehicle and the driving image of the vehicle into a preconfigured road identification model to determine road data.

[0116] The road data may be three-dimensional image data including lane information, lane width, pothole sections, traffic light information, and the like. Specifically, in step S205, the road recognition model may detect the road width and the road lane line according to the image frame in the driving image of the vehicle, and generate a three-dimensional image as the road data according to the driving lane of the driving test vehicle.

[0117] S206. Render the road in the three-dimensional virtual scene according to the road data.

[0118] In step S206, the execution body of the method may be configured with a 3D graphics interface and a 3D game engine, the 3D graphics interface may include OpenGL, Metal, and Direct3D, and the 3D game engine may include Unity and Unreal, etc. Specifically, graphics rendering . Display method The present disclosure is not limited.

[0119] S207. The target detection model pre-trained with the driving data of the driving test vehicle and the driving image data of the vehicle, to determine whether there is a first time duration whose distance between other vehicles and the driving test vehicle is smaller than a preset distance threshold and exceeds a preset duration threshold.

[0120] In a case where it is determined that there is at least one other vehicle and the driving test vehicle with a distance smaller than the preset distance threshold and the first duration exceeds the preset duration threshold, step S208 is performed.

[0121] It should be understood that there may be a plurality of other vehicles and the driving test vehicle whose distance is smaller than the preset distance threshold and the first duration exceeds the preset duration threshold, then steps S208 to S209 may be performed multiple times until each meets the requirements. Step S210 is performed after the first positions of the other vehicles and the vehicle data of the conditions are collected.

[0122] The preset distance threshold may be 20 meters, 30 meters, or 100 meters, which is not limited in the present disclosure, as long as vehicles within the preset distance threshold may affect the driving conditions of the driving test vehicle, or may appear in It is enough to be within the driver's field of vision. For example, if the vehicle exceeds 40 meters, it will not affect the driving test vehicle, so there is no need to obtain the driving data of the vehicle. The preset duration threshold may be 10 seconds or 20 seconds, which is not specifically limited in the present disclosure.

[0123] S208: Record a first position where the distance between the other vehicle and the driving test vehicle is smaller than a preset threshold for the first time.

[0124] S209. Determine the relative speed and lane information when the distance between the other vehicle and the data collection vehicle is smaller than a preset threshold.

[0125] S210. When the driving situation of the simulated vehicle on the virtual road indicates that the simulated vehicle travels to the first position, render other vehicles in the three-dimensional virtual scene according to the other vehicle data.

[0126] Those skilled in the art should understand that there may be multiple other vehicles, and there may be multiple first positions. In step S210, the driving situation of the simulated vehicle on the virtual road may be characterized as the simulated vehicle travels to each first position. In the case of the location, other vehicles will be rendered in the three-dimensional virtual scene according to other vehicle data corresponding to the first location.

[0127] S211. Playing a voice instruction corresponding to the second position when the driving situation of the simulated vehicle on the virtual road indicates that the simulated vehicle travels to the second position.

[0128]Those skilled in the art should understand that there may be multiple second positions, and in step S211, when the driving situation of the simulated vehicle on the virtual road indicates that the simulated vehicle travels to each second position, The voice instructions corresponding to the second position will be played.

[0129] S212. Determine whether the user passes the simulation assessment according to the driving situation of the simulated vehicle on the virtual road.

[0130] S213. In the case that it is determined that the user has not passed the simulation assessment, determine the point deduction point information of the user according to the driving situation of the simulated vehicle on the virtual road.

[0131] S214. Send the deduction point information to the user or coach.

[0132] Specifically, before simulating driving, the user may pre-store the mobile phone number or email address of the user or the user's coach, and when step S214 is executed, the mobile phone number or email address of the user or the user's coach may be directly obtained, and the mobile phone number or email address of the user or the user's coach may be directly obtained through a short message. Or send the user's deduction point information to the user's or coach's mobile phone or mailbox by email.

[0133] In the embodiment of the present disclosure, the data collection vehicle drives on the real driving test section to collect road information on the real driving test section and the driving conditions of other vehicles, and renders the driving simulator according to the collected data. The displayed simulation scene can make the simulation scene in the driving simulator more in line with the real driving test road conditions, so that the driver students can experience the real driving test road scene more realistically during the simulated driving test.

[0134] And, according to step S207 to step S210, by recording the position where other vehicles appear (that is, the first position where the distance from the data collection vehicle is smaller than the preset threshold for the first time), when the simulated vehicle travels to this position, according to the relative speed and lane information, and re-rendering the vehicle within the time period when the other vehicle may affect the simulated vehicle, which can avoid invalid model rendering and save the data processing resources of the driving simulator.

[0135] According to step S201, the road section that the user wants to simulate is determined according to the input information of the user, and the road data and other vehicle data of the road section and other vehicle data are determined according to the pre-collected data to collect the driving data of the vehicle on the road section and the vehicle driving image, and then carry out The rendering of the virtual scene enables the user to experience the road conditions of the test section that the user wants to simulate more realistically, further enables the user to understand the real road conditions, and improves the success rate of the driving test.

[0136] According to step S202, by obtaining the assessment criteria of the target driving test road section, and determining whether the simulated user passes the simulated assessment according to the driving conditions of the simulated vehicle on the virtual road, the simulated user can experience the actual situation of the test more realistically, and can be more Targeted training.

[0137] According to step S202 and step S211, by collecting the real voice instructions on the real driving test vehicle, and when the simulated vehicle is driving on the virtual road, if it reaches the position corresponding to the voice instructions, the voice instructions are played to prompt the simulated user to perform corresponding operations , which can further make the simulated scene more in line with the real driving test scene and improve the user's training efficiency.

[0138] image 3 It is an image rendering device 30 for simulating driving according to an exemplary embodiment. The device 30 can be used as a driving simulator or a part of the driving simulator. The device includes:

[0139] an acquisition module 31, configured to acquire a vehicle driving image collected by a camera disposed on the data acquisition vehicle, where the vehicle driving image is a panoramic image;

[0140] A determination module 32, configured to determine road data and other vehicle data during the driving process of the data collection vehicle according to the driving data of the data collection vehicle and the vehicle driving image;

[0141] a first rendering module 33, configured to render a virtual road in the display module of the driving simulator according to the road data;

[0142] a second rendering module 34, configured to render the simulated vehicle on the virtual road, so that the driving simulator controls the simulated vehicle to drive on the virtual road in response to the user's operation instruction;

[0143] The third rendering module 35 is configured to render other vehicles according to the driving situation of the simulated vehicle on the virtual road and the other vehicle data.

[0144] Optionally, the determining module 32 is specifically configured to:

[0145] In response to detecting that the distance between other vehicles and the data collection vehicle in the vehicle driving image is less than the preset distance threshold and the first duration exceeds the preset duration threshold, record the first time between the other vehicle and the data collection vehicle. The spacing is less than the first position of the preset threshold;

[0146] Determine the relative speed and lane information when the distance between the other vehicle and the data collection vehicle is less than a preset threshold;

[0147] The third rendering module 35 is specifically used for:

[0148] When it is determined that the simulated vehicle travels to the first position on the virtual road, the other vehicle is rendered according to the first duration, relative speed and lane information.

[0149] Optionally, the device 30 includes:

[0150] The second determination module is used for determining the target driving test road section of the user according to the input information of the user;

[0151] The determining module 32 is used for:

[0152] Road data and other vehicle data corresponding to the target driving test section are determined according to the driving data and vehicle driving images of the data collecting vehicle on the target driving test section.

[0153] Optionally, the device 30 includes:

[0154] The second obtaining module is used to obtain the assessment standard corresponding to the target driving test road section;

[0155] The third determination module is configured to determine whether the user has passed the simulation assessment according to the driving situation of the simulated vehicle on the virtual road.

[0156] Optionally, the data collection vehicle is a real driving test vehicle, and the device 30 includes:

[0157] a collection module, configured to collect the voice instruction of the driving test vehicle, and record the second position where the voice instruction is issued;

[0158] The playing module is configured to play the voice instruction when it is determined that the simulated vehicle travels to the second position on the virtual road.

[0159] Optionally, the obtaining module 32 includes:

[0160] When it is determined that the test trainee of the driving test vehicle passes the test, a driving image of the vehicle collected by a camera disposed on the driving test vehicle traveling along the driving test road section is acquired.

[0161] Regarding the apparatus in the above-mentioned embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be described in detail here.

[0162] Figure 4 is a driving simulator 40 according to an exemplary embodiment, the driving simulator 40 may include image 3 The image rendering device 30 for simulating driving is shown, and the device 30 is used to execute the steps of the image rendering method for simulating driving.

[0163] Those skilled in the art should know that, in the specific implementation, the driving simulator 40 also includes other components, Figure 4 Only the parts related to the embodiments of the present disclosure are shown, and other necessary vehicle components are not shown one by one.

[0164] For example, the driving simulator may further include a control cockpit, and the cockpit includes a steering wheel, an accelerator pedal, a brake pedal and a clutch pedal, a data acquisition module, a driving simulation simulation software, and a display device. The display device may be a VR display device for simulating driving scenes, The output end of the control cockpit is connected to the input end of the data acquisition module through the CAN controller, the output end of the data acquisition module is connected to the input end of the computer-side driving simulation software, and the output end of the driving simulation software is connected to the simulated driving scene VR The display device enables the user's operations to control the cockpit to be fed back to the VR display device of the driving simulator, so that the user can experience a more realistic driving experience.

[0165] Figure 5 It is a block diagram of a charging device 500 according to an exemplary embodiment. For example, apparatus 500 may be a driving simulator, mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, fitness device, personal digital assistant, and the like.

[0166] refer to Figure 5 , the apparatus 500 may include one or more of the following components: a processing component 502, a memory 504, a power component 506, a multimedia component 508, an audio component 510, an input/output (I/O) interface 512, a sensor component 514, and a communication component 516.

[0167] The processing component 502 generally controls the overall operation of the apparatus 500, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 502 may include one or more processors 820 to execute instructions to perform all or some of the steps of the methods described above. Additionally, processing component 502 may include one or more modules to facilitate interaction between processing component 502 and other components. For example, processing component 502 may include a multimedia module to facilitate interaction between multimedia component 508 and processing component 502.

[0168] Memory 504 is configured to store various types of data to support operations at device 500 . Examples of such data include instructions for any application or method operating on device 500, contact data, phonebook data, messages, pictures, videos, and the like. Memory 504 may be implemented by any type of volatile or non-volatile storage device or combination thereof, such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable Programmable Read Only Memory (EPROM), Programmable Read Only Memory (PROM), Read Only Memory (ROM), Magnetic Memory, Flash Memory, Magnetic or Optical Disk.

[0169] Power component 506 provides power to various components of device 500 . Power components 506 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to device 500 .

[0170] Multimedia component 508 includes a screen that provides an output interface between the device 500 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swipe, and gestures on the touch panel. The touch sensor may not only sense the boundaries of a touch or swipe action, but also detect the duration and pressure associated with the touch or swipe action. In some embodiments, the multimedia component 508 includes a front-facing camera and/or a rear-facing camera. When the apparatus 500 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each of the front and rear cameras can be a fixed optical lens system or have focal length and optical zoom capability.

[0171] Audio component 510 is configured to output and/or input audio signals. For example, audio component 510 includes a microphone (MIC) that is configured to receive external audio signals when device 500 is in operating modes, such as call mode, recording mode, and voice recognition mode. The received audio signal may be further stored in memory 504 or transmitted via communication component 516 . In some embodiments, the audio component 510 also includes a speaker for outputting audio signals.

[0172] The I/O interface 512 provides an interface between the processing component 502 and a peripheral interface module, which may be a keyboard, a click wheel, a button, or the like. These buttons may include, but are not limited to: home button, volume buttons, start button, and lock button.

[0173] Sensor assembly 514 includes one or more sensors for providing status assessment of various aspects of device 500 . For example, the sensor assembly 514 can detect the open/closed state of the device 500, the relative positioning of components, such as the display and keypad of the device 500, and the sensor assembly 514 can also detect a change in the position of the device 500 or a component of the device 500 , the presence or absence of user contact with the device 500 , the orientation or acceleration/deceleration of the device 500 and the temperature change of the device 500 . Sensor assembly 514 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. Sensor assembly 514 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 514 may also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0174] Communication component 516 is configured to facilitate wired or wireless communication between apparatus 500 and other devices. Device 500 may access wireless networks based on communication standards, such as WiFi, 2G or 3G, or a combination thereof. In one exemplary embodiment, the communication component 516 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 516 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0175] In an exemplary embodiment, apparatus 500 may be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable A gate array (FPGA), controller, microcontroller, microprocessor or other electronic component implementation is used to perform the above method.

[0176] In an exemplary embodiment, there is also provided a non-transitory computer-readable storage medium including instructions, such as a memory 504 including instructions, executable by the processor 520 of the apparatus 500 to perform the above method. For example, the non-transitory computer-readable storage medium may be ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.

[0177] In another exemplary embodiment, there is also provided a computer program product comprising a computer program executable by a programmable apparatus, the computer program having, when executed by the programmable apparatus, for performing the above The code section of the charging method.

[0178] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above-mentioned embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure. These simple modifications all fall within the protection scope of the present disclosure.

[0179] In addition, it should be noted that, the specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner unless they are inconsistent. In order to avoid unnecessary repetition, the present disclosure provides The combination method will not be specified otherwise.

[0180] In addition, the various embodiments of the present disclosure can also be arbitrarily combined, as long as they do not violate the spirit of the present disclosure, they should also be regarded as the contents disclosed in the present disclosure.