Method and apparatus for determining position information of face sheet vertex, and electronic device

Abstract

The application provides a method and device for determining position information of a facet vertex and an electronic device. The method comprises: obtaining model coordinate information of a facet vertex of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the facet vertex is fixed relative to central coordinate information of the dynamic object model; determining model matrix coordinate information of the facet vertex of the dynamic object at a current position based on a model matrix of the dynamic object; and determining position information of the facet vertex at the current position based on the model coordinate information of the facet vertex and the model matrix coordinate information of the facet vertex. The position information of the facet vertex of the dynamic object during movement is quickly determined by using the model coordinate information of the facet vertex of the dynamic object and the model matrix coordinate information of the facet vertex.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a method, device, and electronic device for determining position information of facet vertices. Background Art

[0002] As people's living standards improve, cars and other vehicles have become one of their main means of transportation. The intelligentization of vehicles has also made travel more convenient. In some cases, vehicles can automatically perform driving tasks, for example, family cars, buses, trucks, and other vehicles with autonomous driving functions enabled.

[0003] The development of autonomous driving systems follows a process from simulation to actual vehicle testing. Virtual simulation testing, as a zero-risk, fast-iteration, and reproducible testing method, has laid a solid foundation for on-road testing of autonomous driving technology.

[0004] Currently, in autonomous driving simulation tests, the positions of dynamic objects are constantly changing. To obtain the world coordinate information of all the patch vertices contained in the dynamic objects in the simulation scene, it is necessary to repeatedly traverse all dynamic objects in the scene and all the patch vertices contained in them. Based on the obtained patch vertex world coordinate information, an acceleration model containing the dynamic object patch vertex information is constructed. However, in the case of massive amounts of data, traversing all the patch vertices of dynamic objects is very time-consuming and cannot meet the real-time data requirements of simulation tests. It is also impossible to accurately determine the position information of the patch vertices in world coordinates. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a method, device and electronic device for determining the position information of patch vertices. In this way, by utilizing the patch vertex model coordinate information of the dynamic object and the model matrix coordinate information of the patch vertices, the position information of the patch vertices of the dynamic object during movement can be quickly determined, thereby solving the problem of spending a lot of time in traversing the patch vertices of the dynamic object, and thus achieving the requirements of simulation testing for real-time data.

[0006] The present invention provides a method for determining position information of a face vertex, the method comprising:

[0007] Acquiring model coordinate information of facet vertices of the dynamic object based on the dynamic object model file, wherein the model coordinate information of the facet vertices is fixed relative to the center coordinate information of the dynamic object model;

[0008] Determine the model matrix coordinate information of the patch vertices of the dynamic object at the current position based on the model matrix of the dynamic object;

[0009] Determine the position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex.

[0010] Further, obtain the model coordinate information of the patch vertex of the dynamic object based on the dynamic object model file, including:

[0011] Obtain the label type of the dynamic object selected by the user for tracking;

[0012] Look up the label type based on the dynamic object model file, and if the label type is stored in the dynamic object model file, determine the dynamic object model corresponding to the label type;

[0013] Then, determine the model coordinate information of the patch vertex of the dynamic object based on the dynamic object model.

[0014] Further, determine the position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex, including:

[0015] For a patch vertex, obtain the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position, and determine the position information of the patch vertex at the current position based on the product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position.

[0016] Further, determine the world coordinate position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex, including:

[0017] For a plurality of patch vertices, obtain the model coordinate information of the plurality of patch vertices and the model matrix coordinate information corresponding to the plurality of patch vertices at the current position, and determine the world coordinate position information of all patch vertices of the dynamic object at the current position based on the model coordinate information of the plurality of patch vertices and the model matrix coordinate information corresponding to the plurality of patch vertices using a parallel algorithm.

[0018] Further, the determination of the model matrix coordinate information of the patch vertex of the dynamic object at the current position includes:

[0019] When the dynamic object moves, determine the position information of the dynamic object at the current position and the pose information of the dynamic object;

[0020] Determine the model matrix of the dynamic object at the current position based on the position information of the dynamic object and the pose information of the dynamic object.

[0021] Based on the model matrix, model matrix coordinate information of the patch vertex at the current position is determined, wherein the model matrix coordinate information comprises rotation angle information and translation position information of the patch vertex of the dynamic object during movement.

[0022] Embodiments of the present application also provide a patch vertex position information determination device, which comprises:

[0023] An acquisition module is configured to acquire model coordinate information of a patch vertex of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the patch vertex is fixed relative to center coordinate information of the dynamic object model;

[0024] A determination module is configured to determine model matrix coordinate information of the patch vertex of the dynamic object at a current position based on a model matrix of the dynamic object;

[0025] A position determination module is configured to determine position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex.

[0026] Further, the acquisition module is configured to:

[0027] acquire a label type of a dynamic object selected for tracking by a user;

[0028] search for the label type based on the dynamic object model file, and if the label type is stored in the dynamic object model file, determine a dynamic object model corresponding to the label type;

[0029] and determine the model coordinate information of the patch vertex of the dynamic object based on the dynamic object model.

[0030] Further, when determining the position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex, the determination module is configured to:

[0031] for a patch vertex, acquire model coordinate information of the patch vertex and model matrix coordinate information of the patch vertex at the current position, and determine the position information of the patch vertex at the current position based on a product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position.

[0032] An embodiment of the present application also provides an electronic device, comprising: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the method for determining the position information of a face vertex are performed as described above.

[0033] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method for determining the position information of a face vertex are executed.

[0034] The present application provides a method for determining the position information of patch vertices, which includes: obtaining model coordinate information of the patch vertices of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the patch vertices is fixed relative to the center coordinate information of the dynamic object model; determining the model matrix coordinate information of the patch vertices of the dynamic object at the current position based on the model matrix of the dynamic object; and determining the position information of the patch vertices at the current position based on the model coordinate information of the patch vertices and the model matrix coordinate information of the patch vertices.

[0035] In this way, by utilizing the patch vertex model coordinate information and the model matrix coordinate information of the dynamic object's patch vertices, the position information of the dynamic object's patch vertices during movement can be quickly determined, thereby solving the problem of spending a lot of time traversing the dynamic object's patch vertices, and thus achieving the real-time data requirements of the simulation test.

[0036] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 A flowchart of a method for determining position information of a face vertex provided in an embodiment of the present application;

[0039] Figure 2 A flowchart of another method for determining the position information of a face vertex provided in an embodiment of the present application;

[0040] Figure 3 A flowchart of another method for determining the position information of a face vertex provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of the structure of a device for determining position information of a face vertex provided in an embodiment of the present application;

[0042] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps without logical context can be reversed or implemented simultaneously. In addition, those skilled in the art, under the guidance of the contents of this application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.

[0044] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present application.

[0045] In order to enable those skilled in the art to use the contents of this application, the following implementation methods are given in combination with the specific application scenario of "autonomous driving". For those skilled in the art, the general principles defined here can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application.

[0046] The following methods, devices, electronic devices or computer-readable storage media of the embodiments of the present application can be applied to any scenario where data acquisition is required. The embodiments of the present application are not limited to specific application scenarios. Any solution using the method and device for determining the position information of the vertex of a patch provided by the embodiments of the present application is within the scope of protection of this application.

[0047] It is found through research that, in automatic driving simulation testing, the positions of dynamic objects are constantly changing. In order to obtain world coordinate information of all patch vertices contained by the dynamic objects in the simulation scene, all dynamic objects and all patch vertices contained by the dynamic objects in the scene need to be repeatedly traversed, so as to realize construction of an acceleration model containing patch vertex information of the dynamic objects according to the obtained world coordinate information of the patch vertices. However, in the case of massive data, traversing all patch vertices of the dynamic objects needs to consume a large amount of time, and thus cannot meet the real-time requirement of the simulation testing on data and cannot accurately determine the position information of the patch vertices in the world coordinates.

[0048] Based on this, the application provides a patch vertex position information determination method, which comprises the following steps:

[0049] In this way, the patch vertex position information of the dynamic objects in the moving process is quickly determined by using the patch vertex model coordinate information of the dynamic objects and the patch vertex model matrix coordinate information, so that the problem that a large amount of time is consumed in traversing the patch vertices of the dynamic objects is solved, and the real-time requirement of the simulation testing on data is met.

[0050] In order to facilitate the understanding of the application, the technical solutions provided by the application will be described in detail below in combination with specific embodiments.

[0051] Please refer to Figure 1 , Figure 1 A flowchart of the patch vertex position information determination method provided by the embodiments of the application is shown in FIG. 1. Figure 1 As shown in FIG. 1, the position information determination method provided by the embodiments of the application comprises the following steps:

[0052] S101: Obtain model coordinate information of patch vertices of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the patch vertices is fixed relative to center coordinate information of the dynamic object model;

[0053] In this step, for the dynamic object model file corresponding to the automatic driving simulation scene selected by the user, the model coordinate information of the patch vertices of the dynamic object is obtained, wherein the model coordinate information of the patch vertices is fixed relative to the center coordinate information of the dynamic object model.

[0054] Here, the dynamic object model file is pre-established, and a large number of dynamic object models are stored in the dynamic object model file, such as pedestrians, vehicles, etc. in the autonomous driving simulation scene.

[0055] Among them, the model coordinate information of the patch vertices is defined in the dynamic object model file. The model coordinates of the patch vertices will not change with the movement of the dynamic object, and the dynamic object and the dynamic object model are presented in a 1:1 ratio, among which the patch vertices of the dynamic object correspond to the patch vertices in the dynamic object model.

[0056] Here, the model coordinate information of multiple patch fixed points of the dynamic object can be obtained. For example, all the patch vertices of the dynamic object are {patch vertex 1, patch vertex 2,…, patch vertex n}, then the corresponding model coordinate information of each vertex in the dynamic object model file is {model coordinate 1 of patch vertex, model coordinate 2 of patch vertex,…, model coordinate n of patch vertex}.

[0057] Here, the model coordinate information of the face vertices of the dynamic object is obtained based on the dynamic object model file, including:

[0058] A: Get the tag type of the dynamic object selected by the user for tracking.

[0059] The tag type of the dynamic object selected by the user is determined. Here, the user can specify to track any dynamic object. For example, if the dynamic object to be tracked is a pedestrian wearing red clothes, the tag type code of the pedestrian wearing red clothes in the autonomous driving simulation scene is determined to be 0050.

[0060] Here, the user can specify to track multiple or one dynamic object, and there is no limitation in this part.

[0061] Here, the tag type of the dynamic object can be coded information or text information, which is not limited in this part.

[0062] B: searching for the tag type based on the dynamic object model file, and if the tag type exists in the dynamic object model file, determining the dynamic object model corresponding to the tag type.

[0063] The tag type is searched for in a preset dynamic object model file. If the tag type of the dynamic object is stored in the dynamic object model file, the dynamic object model corresponding to the dynamic object is determined based on the tag type. There is a one-to-one correspondence between dynamic objects, tag types, and dynamic object models. For example, the tag type can be determined based on the dynamic object, and the dynamic object model can be determined based on the tag type.

[0064] C: Determine the model coordinate information of the facet vertices of the dynamic object based on the dynamic object model.

[0065] The model coordinate information of the patch vertices of the dynamic object is obtained based on the determined dynamic object model. Here, the model coordinate information of multiple patch vertices can be obtained at one time. For example, if all the patch vertices of the dynamic object are {patch vertex 1, patch vertex 2, ..., patch vertex n}, then the model coordinate information corresponding to each vertex in the dynamic object model file is {model coordinates of patch vertex 1, model coordinates of patch vertex 2, ..., model coordinates of patch vertex n}.

[0066] S102: Based on the model matrix of the dynamic object, determine the model matrix coordinate information of the patch vertices of the dynamic object at the current position.

[0067] In this step, the model matrix coordinate information of the vertex of the patch at the current position is determined according to the model matrix of the dynamic object.

[0068] Here, the model matrix of a dynamic object is a matrix that represents the conversion from model coordinates to world coordinates, and the model matrix changes as the object moves. The model matrix is ​​a 4*4 matrix, and all face vertices of the dynamic object are subject to the same model matrix.

[0069] Here, the patch vertices in the model matrix correspond to the patch vertices in the dynamic object. For example, the model matrix coordinate information of the patch vertices corresponding to the label information in the model matrix can be determined based on the label information of the patch vertices in the dynamic object.

[0070] The model matrix contains the rotation angle information, translation position information and other angle information generated during the movement of the dynamic object at the current position when the dynamic object moves.

[0071] Among them, the model matrix coordinate information of the face vertices of the dynamic object at the current position can be collected within a preset time period, or the model matrix coordinate information of the face vertices of the dynamic object at the current position can be continuously collected when the simulation system is started. This part is not limited.

[0072] Here, determining the model matrix coordinate information of the patch vertices of the dynamic object at the current position includes:

[0073] a: When the dynamic object moves, determine the position information of the dynamic object at the current position and the posture information of the dynamic object.

[0074] When the dynamic object moves, the position information of the dynamic object at the current position and the attitude information of the dynamic object are determined, where the attitude information of the dynamic object is the attitude of the dynamic object at the current position, which can be the arm swinging action of the pedestrian, the hand waving action of the pedestrian, etc., and is not limited in this part.

[0075] For example, when the dynamic object moves from point A to point B, the position information of the dynamic object in the autonomous driving simulation scene at point B and the current attitude information are determined, which can be in other virtual scenes, and is not limited in this part.

[0076] b: based on the position information of the dynamic object and the attitude information of the dynamic object, the model matrix of the dynamic object at the current position is determined.

[0077] Wherein, according to the position information of the dynamic object and the attitude information of the dynamic object, the model matrix of the dynamic object at the current position is determined, and the model matrix view corresponding to different dynamic objects is not the same, which needs to be determined according to the attitude information of the dynamic object and the position information of the dynamic object.

[0078] For example, when the dynamic object moves from point A to point B, the position information of the dynamic object in the autonomous driving simulation scene at point B and the current attitude information are determined, and the model matrix of the dynamic object at point B is determined according to the position information and the current attitude information.

[0079] c: based on the model matrix, the model matrix coordinate information of the patch vertex at the current position is determined, wherein the model matrix coordinate information includes the rotation angle information and the translation position information of the patch vertex of the dynamic object in the moving process.

[0080] Wherein, according to the model matrix, the model matrix coordinate of the patch vertex at the current position is determined, which can determine the model matrix coordinates of multiple patch vertices at the same time. For example, the dynamic object has {patch vertex 1, patch vertex 2, …, patch vertex n}, and the model matrix coordinate information of the patch vertex has {model matrix coordinate of patch vertex 1, model matrix coordinate of patch vertex 2, …, model matrix coordinate of patch vertex n}.

[0081] S103: based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex, the position information of the patch vertex at the current position is determined.

[0082] In this step, the position information of the patch vertices at the current position is determined based on the model coordinate information of the patch vertices and the model matrix coordinate information of the patch vertices.

[0083] The position information of the patch vertices is the position information in the world coordinates.

[0084] Here, the position information of the patch vertex at the current position is determined based on the product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex. In addition, the position information of multiple patch vertices can be determined simultaneously based on a parallel algorithm. For example, all patch vertices of a dynamic object are {vertex 1, vertex 2, ..., vertex n}. When the dynamic object moves, at the current position, the model matrix coordinates of all patch vertices of the dynamic object are {model matrix coordinate 1, model matrix coordinate 2, ..., model matrix coordinate n}, and the model coordinates of the patch vertex are {model coordinate 1, model coordinate 2, ..., model coordinate n}. Then the position information of the patch vertex is {world coordinate 1, world coordinate 2, ..., world coordinate n} = {model matrix coordinate 1, model matrix coordinate 2, ..., model matrix coordinate n} * {model coordinate 1, model coordinate 2, ..., model coordinate n}, where model matrix coordinate 1 is multiplied by model coordinate 1, and so on.

[0085] In a specific embodiment, the model coordinate information of the pedestrian's patch vertices is obtained based on the pedestrian's model file. The obtained patch vertices may be one or more. When the pedestrian moves from point A to point B, the model matrix at point B is determined based on the pedestrian's position information and posture information at point B, the model matrix coordinate information of the patch vertex is determined based on the model matrix, and the world coordinate position information of the patch vertex of the pedestrian at point B is determined based on the product of the model matrix coordinate information and the model coordinate information. For example, the position information of the patch vertex at point B in the world coordinate is determined to be (100, 250, 300).

[0086] The present application provides a method for determining the position information of patch vertices, which includes: obtaining model coordinate information of the patch vertices of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the patch vertices is fixed relative to the center coordinate information of the dynamic object model; determining the model matrix coordinate information of the patch vertices of the dynamic object at the current position based on the model matrix of the dynamic object; and determining the position information of the patch vertices at the current position based on the model coordinate information of the patch vertices and the model matrix coordinate information of the patch vertices.

[0087] In this way, by utilizing the patch vertex model coordinate information of the dynamic object and the model matrix coordinate information of the patch vertices, the position information of the patch vertices of the dynamic object during movement can be quickly determined, thereby solving the problem of spending a lot of time in traversing the patch vertices of the dynamic object, and thus achieving the real-time data requirements of the simulation test.

[0088] See also Figure 2 , Figure 2 This is a flow chart of another method for determining the position information of a face vertex provided in an embodiment of the present application. Figure 2 As shown in , the location information determination method provided by the embodiment of the present application includes:

[0089] S201: Acquire model coordinate information of patch vertices of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the patch vertices is fixed relative to the center coordinate information of the dynamic object model.

[0090] S202: Based on the model matrix of the dynamic object, determine the model matrix coordinate information of the patch vertices of the dynamic object at the current position.

[0091] Among them, the description of S201 to S202 can refer to the description of S101 to S102, and can achieve the same technical effect, which is not repeated here.

[0092] S203: For a patch vertex, obtain the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position, and determine the position information of the patch vertex at the current position based on the product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position.

[0093] In this step, for a patch vertex, the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position are obtained, and based on the product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position, the position information of the patch vertex at the current position is determined.

[0094] In a specific embodiment, for a patch vertex of a pedestrian, the model coordinate information of the patch vertex is obtained from the pedestrian's model file. When the pedestrian moves from point A to point B, the position information and posture information of the pedestrian at point B are obtained. The model matrix view of the pedestrian is determined based on the position information and posture information of the pedestrian. The model matrix coordinate information of the patch vertex is obtained for the model matrix view. The world coordinate information of the patch vertex at point B is determined based on the model matrix coordinate information of the patch vertex and the model coordinate information of the patch vertex.

[0095] Optionally, for a plurality of patch vertices, model coordinate information of the plurality of patch vertices and model matrix coordinate information corresponding to the plurality of patch vertices at a current position are obtained, and world coordinate position information of all patch vertices of the dynamic object at the current position is determined based on the model coordinate information of the plurality of patch vertices and the model matrix coordinate information corresponding to the plurality of patch vertices by using a parallel algorithm.

[0096] Here, for a plurality of patch vertices, model coordinate information of the plurality of patch vertices and model matrix coordinate information of the plurality of patch vertices at a current position are obtained, and a product of the model coordinate information of the patch vertices and the model matrix coordinate information of the patch vertices at the current position is calculated simultaneously by using a parallel algorithm, and position information of the plurality of patch vertices at the current position is determined simultaneously.

[0097] In a specific embodiment, for a plurality of patch vertices of a pedestrian, model coordinate information of the plurality of patch vertices is obtained in a model file of the pedestrian, when the pedestrian moves from point A to point B, position information and posture information of the pedestrian at point B are obtained, a model matrix view of the pedestrian is determined according to the position information and the posture information of the pedestrian, model matrix coordinate information of the plurality of patch vertices is obtained for the model matrix view, and world coordinate information of the plurality of patch vertices at point B is determined according to the model matrix coordinate information of the plurality of patch vertices and the model coordinate information of the plurality of patch vertices, where the model coordinate information of the patch vertices and the model matrix coordinate information of the patch vertices are one-to-one corresponding. Moreover, the patch vertices in the dynamic object, the patch vertices in the dynamic object model, and the patch vertices in the model matrix correspond to each other based on label information of the patch vertices, for example, if the label information of the patch vertices in the dynamic object is 0001, the label information of the corresponding patch vertices in the dynamic object model is 0001, and the label information of the corresponding patch vertices in the model matrix is 0001.

[0098] The present application provides a patch vertex position information determination method, which comprises: obtaining model coordinate information of patch vertices of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the patch vertices is fixed relative to center coordinate information of the dynamic object model; determining model matrix coordinate information of the patch vertices of the dynamic object at a current position based on a model matrix of the dynamic object; for a patch vertex, obtaining model coordinate information of the patch vertex and model matrix coordinate information of the patch vertex at the current position, and determining position information of the patch vertex at the current position based on a product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position.

[0099] In this way, by utilizing the patch vertex model coordinate information and the model matrix coordinate information of the dynamic object's patch vertices, the position information of the dynamic object's patch vertices during movement can be quickly determined, thereby solving the problem of spending a lot of time traversing the dynamic object's patch vertices, and thus achieving the real-time data requirements of the simulation test.

[0100] See also Figure 3 , Figure 3 This is a flow chart of another method for determining the position information of a face vertex provided in an embodiment of the present application. Figure 3 As shown, when the vehicle autonomous driving simulation system is started, the dynamic object model file is read and the model coordinate information of all facet vertices of all dynamic objects in the vehicle autonomous driving simulation scene is obtained from the dynamic object model file. Then, based on the position information and posture information of all dynamic objects during movement in the vehicle autonomous driving simulation scene, the model matrix of each dynamic object at the current position is determined. The model matrix coordinate information of all facet vertices of the dynamic object is determined based on the model matrix view corresponding to the dynamic object. After obtaining multiple model matrix coordinate information and multiple model coordinate information of multiple dynamic objects, the world coordinate position information of multiple facet vertices of the multiple dynamic objects is simultaneously calculated based on a parallel algorithm. Among them, the dynamic objects, model coordinates, model matrix coordinate information, dynamic object model files, model matrices, and facet vertices are mutually corresponding.

[0101] See also Figure 4 , Figure 4 A schematic diagram of the structure of a device for determining position information of a face vertex provided in an embodiment of the present application; Figure 4 As shown, the position information determining device 400 includes:

[0102] An acquisition module 410 is configured to acquire model coordinate information of a facet vertex of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the facet vertex is fixed relative to the center coordinate information of the dynamic object model;

[0103] A determination module 420 is configured to determine model matrix coordinate information of a patch vertex of the dynamic object at a current position based on the model matrix of the dynamic object;

[0104] The position determination module 430 is configured to determine the position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex.

[0105] Furthermore, the acquisition module 410 is used to:

[0106] Get the tag type of the dynamic object selected by the user for tracking;

[0107] searching the label type based on the dynamic object model file, if the label type exists in the dynamic object model file, determining a dynamic object model corresponding to the label type;

[0108] determining the model coordinate information of the patch vertex of the dynamic object based on the dynamic object model.

[0109] Further, the position determining module 430 is configured to determine the position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex.

[0110] For a patch vertex, the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position are obtained, and the position information of the patch vertex at the current position is determined based on the product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position.

[0111] Further, the position determining module 430 is configured to determine the position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex.

[0112] For a plurality of patch vertices, the model coordinate information of the plurality of patch vertices and the model matrix coordinate information corresponding to the plurality of patch vertices at the current position are obtained, and the world coordinate position information of all patch vertices of the dynamic object at the current position is determined based on the model coordinate information of the plurality of patch vertices and the model matrix coordinate information corresponding to the plurality of patch vertices by using a parallel algorithm.

[0113] Further, the determining module 430 is configured to:

[0114] when the dynamic object moves, determining the position information of the dynamic object at the current position and the posture information of the dynamic object at the current position;

[0115] based on the position information of the dynamic object and the posture information of the dynamic object, determining the model matrix of the dynamic object at the current position;

[0116] based on the model matrix, determining the model matrix coordinate information of the patch vertex at the current position, wherein the model matrix coordinate information comprises rotation angle information and translation position information of the patch vertex of the dynamic object during movement.

[0117] The present application provides a device for determining position information of patch vertices, and the position information determination device includes: an acquisition module, used to obtain model coordinate information of the patch vertices of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the patch vertices is fixed relative to the center coordinate information of the dynamic object model; a determination module, used to determine the model matrix coordinate information of the patch vertices of the dynamic object at the current position based on the model matrix of the dynamic object; and a position determination module, used to determine the position information of the patch vertices at the current position based on the model coordinate information of the patch vertices and the model matrix coordinate information of the patch vertices.

[0118] In this way, by utilizing the patch vertex model coordinate information and the model matrix coordinate information of the dynamic object's patch vertices, the position information of the dynamic object's patch vertices during movement can be quickly determined, thereby solving the problem of spending a lot of time traversing the dynamic object's patch vertices, and thus achieving the real-time data requirements of the simulation test.

[0119] See also Figure 5 , Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 5 As shown in FIG, the electronic device 500 includes a processor 510, a memory 520 and a bus 530.

[0120] The memory 520 stores machine-readable instructions executable by the processor 510. When the electronic device 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 as well as Figure 2 The steps of a method for determining position information of facet vertices in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0121] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 as well as Figure 2 The steps of a method for determining position information of facet vertices in the method embodiment shown are specifically implemented in accordance with the method embodiment and will not be described in detail here.

[0122] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0123] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other manners. The described device embodiments are merely schematic, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections between different units, or the among different units, can be indirect couplings or communication connections through some interfaces, devices or units, and can be in electrical, mechanical or other forms.

[0124] The units described as separated components can or can not be physically separated, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0125] In addition, each functional unit in the embodiments of the present application can be integrated in one processing unit, or each unit can exist physically as a separate unit, or two or more units can be integrated in one unit.

[0126] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application or the part of the technical solutions that make essential contributions to the prior art can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0127] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for determining position information of a face vertex, characterized in that: The location information determination method includes: Acquiring model coordinate information of facet vertices of the dynamic object based on the dynamic object model file, wherein the model coordinate information of the facet vertices is fixed relative to the center coordinate information of the dynamic object model; Determine the model matrix coordinate information of the patch vertices of the dynamic object at the current position based on the model matrix of the dynamic object; Determine position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex; Determining position information of the patch vertex at a current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex includes: For a patch vertex, obtain model coordinate information of the patch vertex and model matrix coordinate information of the patch vertex at the current position, and determine position information of the patch vertex at the current position based on the product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position; For a plurality of patch vertices, obtaining model coordinate information of the plurality of patch vertices and model matrix coordinate information corresponding to the plurality of patch vertices at a current position, and determining position information of all patch vertices of the dynamic object at the current position using the model coordinate information of the plurality of patch vertices and the model matrix coordinate information corresponding to the plurality of patch vertices based on a parallel algorithm; Determining the model matrix coordinate information of the patch vertices of the dynamic object at the current position includes: When the dynamic object moves, determining position information of the dynamic object at a current position and posture information of the dynamic object; Determining a model matrix of the dynamic object at a current position based on the position information of the dynamic object and the posture information of the dynamic object; Based on the model matrix, model matrix coordinate information of the patch vertices at the current position is determined, wherein the model matrix coordinate information includes rotation angle information and translation position information of the patch vertices during the movement of the dynamic object.

2. The method for determining location information according to claim 1, wherein: Obtain the model coordinate information of the face vertices of the dynamic object based on the dynamic object model file, including: Get the tag type of the dynamic object selected by the user for tracking; searching for the tag type based on the dynamic object model file, and determining the dynamic object model corresponding to the tag type if the tag type exists in the dynamic object model file; Then, the model coordinate information of the facet vertices of the dynamic object is determined based on the dynamic object model.

3. A device for determining position information of a face vertex, characterized in that: The position information determining device comprises: an acquisition module, configured to acquire model coordinate information of a facet vertex of a dynamic object based on a dynamic object model file, wherein the model coordinate information of the facet vertex is fixed relative to the center coordinate information of the dynamic object model; A determination module, configured to determine model matrix coordinate information of a patch vertex of the dynamic object at a current position based on a model matrix of the dynamic object; A position determination module, configured to determine position information of the face vertex at a current position based on the model coordinate information of the face vertex and the model matrix coordinate information of the face vertex; When the position determination module is used to determine the position information of the patch vertex at the current position based on the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex, the position determination module is used to: For a patch vertex, obtain model coordinate information of the patch vertex and model matrix coordinate information of the patch vertex at the current position, and determine position information of the patch vertex at the current position based on the product of the model coordinate information of the patch vertex and the model matrix coordinate information of the patch vertex at the current position; For a plurality of patch vertices, obtaining model coordinate information of the plurality of patch vertices and model matrix coordinate information corresponding to the plurality of patch vertices at a current position, and determining position information of all patch vertices of the dynamic object at the current position using the model coordinate information of the plurality of patch vertices and the model matrix coordinate information corresponding to the plurality of patch vertices based on a parallel algorithm; When the determination module is used to determine the model matrix coordinate information of the patch vertices of the dynamic object at the current position, the determination module is specifically used to: When the dynamic object moves, determining position information of the dynamic object at a current position and posture information of the dynamic object; Determining a model matrix of the dynamic object at a current position based on the position information of the dynamic object and the posture information of the dynamic object; Based on the model matrix, model matrix coordinate information of the patch vertices at the current position is determined, wherein the model matrix coordinate information includes rotation angle information and translation position information of the patch vertices during the movement of the dynamic object.

4. The position information determining device according to claim 3, wherein: The acquisition module is used to: Get the tag type of the dynamic object selected by the user for tracking; searching for the tag type based on the dynamic object model file, and determining the dynamic object model corresponding to the tag type if the tag type exists in the dynamic object model file; Then, the model coordinate information of the facet vertices of the dynamic object is determined based on the dynamic object model.

5. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the method for determining the position information of the patch vertices as described in any one of claims 1 to 2.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining the position information of the face vertex according to any one of claims 1 to 2 are executed.

Images