A simulation scene generation method and device, electronic equipment and storage medium

Abstract

The application discloses a simulation scene generation method and device, electronic equipment and a storage medium, wherein the method comprises: obtaining static association information associated with a to-be-simulated road section, and generating a to-be-used static scene corresponding to the to-be-simulated road section according to the static association information; obtaining dynamic association information associated with the to-be-simulated road section, and generating a to-be-used dynamic scene corresponding to the to-be-simulated road section according to the dynamic association information; and performing rendering processing on the to-be-used static scene and the to-be-used dynamic scene based on a to-be-used rendering model to obtain a target simulation scene corresponding to the to-be-simulated road section. The problem that a simulation scene is not real enough is solved, and the effect that a simulation scene is closer to a real scene is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent driving, and in particular to a simulation scene generation method and device, an electronic device and a storage medium. BACKGROUND

[0002] After the development of the automatic driving function, a large number of simulation tests are needed to meet the requirements of real vehicle application, so it is necessary to establish an automatic driving simulation test scene.

[0003] At present, the establishment of an automatic driving simulation test scene is usually based on road information and traffic element information in the road for simulation, but in the actual automatic driving scene, the scene obtained by simulating only the road information and the traffic element information is not realistic enough.

[0004] In order to obtain a simulation scene that is more matched with the actual automatic driving scene, the simulation method of the automatic driving simulation scene needs to be improved. SUMMARY

[0005] The present application provides a simulation scene generation method and device, an electronic device and a storage medium to solve the problem of unrealistic simulation scenes.

[0006] According to an aspect of the present application, a simulation scene generation method is provided, comprising:

[0007] Obtaining static association information associated with a to-be-simulated road section, and generating a to-be-used static scene corresponding to the to-be-simulated road section according to the static association information; wherein the static association information includes at least one of road shape information, road size information and public facility information;

[0008] Obtaining dynamic association information associated with the to-be-simulated road section, and generating a to-be-used dynamic scene corresponding to the to-be-simulated road section according to the dynamic association information; wherein the dynamic association information includes at least one of traffic element information, weather information and lighting information;

[0009] Rendering the to-be-used static scene and the to-be-used dynamic scene based on a to-be-used rendering model to obtain a target simulation scene corresponding to the to-be-simulated road section.

[0010] According to another aspect of the present application, a simulation scene generation device is provided, comprising:

[0011] A static scene generation module for obtaining static association information associated with a to-be-simulated road section, and generating a to-be-used static scene corresponding to the to-be-simulated road section according to the static association information; wherein the static association information includes at least one of road shape information, road size information and public facility information;

[0012] a dynamic scene generation module configured to acquire dynamic association information associated with the to-be-simulated road section, and generate a to-be-used dynamic scene corresponding to the to-be-simulated road section according to the dynamic association information, wherein the dynamic association information comprises at least one of traffic element information, weather information, and illumination information;

[0013] a target simulation scene determination module configured to perform rendering processing on the to-be-used static scene and the to-be-used dynamic scene based on a to-be-used rendering model, to obtain a target simulation scene corresponding to the to-be-simulated road section.

[0014] According to another aspect of the present application, an electronic device is provided, which comprises:

[0015] at least one processor; and

[0016] a memory connected in communication with the at least one processor; wherein

[0017] the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the simulation scene generation method according to any one of the embodiments of the present application.

[0018] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the simulation scene generation method according to any one of the embodiments of the present application when executed by the processor.

[0019] The technical scheme of the embodiment obtains static associated information associated with the to-be-simulated road section, generates a to-be-used static scene corresponding to the to-be-simulated road section according to the static associated information, obtains the static associated information associated with the to-be-simulated road section through a map software, and simulates the static associated information based on a three-dimensional simulation software to obtain the to-be-used static scene corresponding to the to-be-simulated road section. The dynamic associated information associated with the to-be-simulated road section is obtained, and a to-be-used dynamic scene corresponding to the to-be-simulated road section is generated according to the dynamic associated information. The dynamic associated information within a preset time length is obtained through a radar device or a camera device installed on the to-be-simulated road section, and the dynamic associated information is simulated and simulated based on a dynamic simulation software to obtain the to-be-used dynamic scene corresponding to the to-be-simulated road section. The to-be-used static scene and the to-be-used dynamic scene are rendered based on a to-be-used rendering model to obtain a target simulation scene corresponding to the to-be-simulated road section. The to-be-used static scene and the to-be-used dynamic scene are fused to obtain a to-be-rendered scene, and the to-be-rendered scene is rendered to obtain the target simulation scene corresponding to the to-be-simulated road section. The problem that the simulation scene is not real enough is solved, and the effect that the simulation scene is closer to the real scene is achieved.

[0020] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings needed in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 is a flow chart of a simulation scene generation method provided by the first embodiment of the present application;

[0023] Figure 2 is a static associated information schematic diagram provided by the second embodiment of the present application;

[0024] Figure 3 is a dynamic associated information schematic diagram provided by the second embodiment of the present application;

[0025] Figure 4 is a rendering process schematic diagram of a to-be-used rendering model provided by the second embodiment of the present application;

[0026] Figure 5is a structural schematic diagram of an emulation scene generation device provided by the embodiment three of the present application;

[0027] Figure 6 is a structural schematic diagram of an electronic device of the simulation scene generation method implemented by the present application. DETAILED DESCRIPTION

[0028] In order for those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0029] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] Embodiment one

[0031] Figure 1 is a flowchart of a simulation scene generation method provided by the embodiment one of the present application. The embodiment can be applicable to the case of simulating a driving road scene. The method can be executed by a simulation scene generation device, which can be realized in the form of hardware and / or software, and can be configured in a computing device.

[0032] As shown in the method, the method comprises the following steps. Figure 1

[0033] S110, obtaining static association information associated with a to-be-simulated road section, and generating a to-be-used static scene corresponding to the to-be-simulated road section according to the static association information.

[0034] ​The to-be-simulated road section can be understood as a road section that needs to be simulated, and a corresponding road section can be selected as the to-be-simulated road section according to actual needs, such as a street road section, a traffic light road section, and a vehicle congestion road section. The static association information includes at least one of road shape information, road size information, and public facility information. The to-be-used static scene can be understood as a road section scene obtained by simulation based on the static association information of the to-be-simulated road section.

[0035] Specifically, when simulating the to-be-simulated road section, in order to make the simulated scene closer to the real road section scene, static association information corresponding to the to-be-simulated road section can be obtained, such as road attributes, quantity, length, width, and elevation of the to-be-simulated road section, and bridge information such as sidewalks, bus stations, and tunnels. Based on the static association information associated with the to-be-simulated road section, a to-be-used static scene corresponding to the to-be-simulated road section can be obtained.

[0036] Optionally, the static association information associated with the to-be-simulated road section is obtained by: based on a map software, calling to-be-used map information corresponding to the to-be-simulated road section; and determining the static association information associated with the to-be-simulated road section according to the to-be-used map information.

[0037] The map software can be understood as software for displaying map information. Based on the map software, to-be-used map information of the to-be-simulated road section can be obtained. The to-be-used map information can include road attributes of the to-be-simulated road section, such as lanes, road sizes, and road elevations. Whether the to-be-simulated road section contains sidewalks, bus stations, bridges, tunnels, and the like can be determined, as well as the width and linearity of the sidewalks, the style and image of the bus stations, the width and environment of the bridges and tunnels, and the like.

[0038] Specifically, based on the map software, to-be-used map information corresponding to the to-be-simulated road section can be called, and based on the to-be-used map information, static association information associated with the to-be-simulated road section can be determined. The to-be-simulated road section is simulated based on the static association information to obtain a to-be-used static scene.

[0039] Optionally, the to-be-used static scene corresponding to the to-be-simulated road section is generated based on the static association information, including: determining to-be-used geometric parameters corresponding to the to-be-used static association information; inputting the to-be-used geometric parameters into three-dimensional simulation software to simulate the to-be-used static association information based on the three-dimensional simulation software, and obtaining the to-be-used static scene corresponding to the to-be-simulated road section.

[0040] The to-be-used geometric parameter can be understood as size information corresponding to each static association information, such as the width of a road, the height of a bridge, and the width of a tunnel. The three-dimensional simulation software can be understood as software for simulating a three-dimensional scene of the to-be-simulated road section based on the static association information, that is, the simulation scene obtained based on the three-dimensional simulation software includes not only road attribute information of the to-be-simulated road section, but also geometric parameter information of each static information, so that the obtained simulation scene is closer to the real road section scene.

[0041] Specifically, after obtaining the to-be-used geometric parameter corresponding to the to-be-simulated road section, the to-be-used static association information of the to-be-simulated road section is simulated based on the three-dimensional simulation software, and a to-be-used static scene corresponding to the to-be-simulated road section can be obtained. In order to make the to-be-used static scene closer to the real road section scene, the to-be-used static association information of the to-be-simulated road section can be simulated in a one-to-one ratio or an equal ratio.

[0042] S120, obtaining dynamic association information associated with the to-be-simulated road section, and generating a to-be-used dynamic scene corresponding to the to-be-simulated road section according to the dynamic association information.

[0043] The dynamic association information can be understood as information that can change with time, such as at least one of traffic element information, weather information, and illumination information. The traffic element information can be understood as information such as pedestrians, vehicles, and traffic lights on the road. The to-be-used dynamic scene can be understood as a road scene obtained by simulating the dynamic association information of the to-be-simulated road section.

[0044] Specifically, in order to make the simulation scene closer to the real road section scene, the dynamic association information corresponding to the to-be-simulated road section can be obtained, such as traffic element information, weather information, and illumination information of the to-be-simulated road section. Based on the dynamic association information associated with the to-be-simulated road section, a to-be-used dynamic scene corresponding to the to-be-simulated road section can be obtained.

[0045] Optionally, the obtaining of the dynamic association information associated with the to-be-simulated road section and the generation of the to-be-used dynamic scene corresponding to the to-be-simulated road section according to the dynamic association information comprises: collecting dynamic association information associated with the to-be-simulated road section within a preset time period based on a radar device or a camera device installed on the to-be-simulated road section; and simulating the dynamic association information based on dynamic simulation software to obtain the to-be-used dynamic scene corresponding to the to-be-simulated road section.

[0046] The dynamic simulation software can be understood as software for simulating the dynamic association information associated with the to-be-simulated road section, and can be used to simulate traffic conditions, weather conditions, and illumination conditions.

[0047] Specifically, the dynamic correlation information associated with the to-be-simulated road section within a preset time period can be collected by scanning the to-be-simulated road section by a radar device arranged in advance on the to-be-simulated road section or by capturing image information of the to-be-simulated road section based on a camera device arranged on the to-be-simulated road section. Further, the acquired dynamic correlation information is input into a dynamic simulation software to simulate the dynamic correlation information based on the dynamic simulation software, so as to obtain a to-be-used dynamic scene corresponding to the to-be-simulated road section.

[0048] Optionally, to-be-used weather information and to-be-used lighting information corresponding to the to-be-simulated road section are determined, to-be-used environment information is generated based on the to-be-used weather information and the to-be-used lighting information, and a to-be-used dynamic scene corresponding to the to-be-simulated road section is obtained by simulating the to-be-used environment information based on a scene simulation software.

[0049] The to-be-used weather information includes at least one of rain, fog, wind sand, and sunny weather, the to-be-used lighting information is different lighting intensity information, and the to-be-used environment information can be understood as environment information containing the to-be-used weather information and the to-be-used lighting information. The scene simulation software can be understood as a software for simulating the to-be-used environment information.

[0050] Specifically, in order to simulate a possible scene that may occur in a real scene, to-be-used weather information and to-be-used lighting information corresponding to the to-be-simulated road section can be acquired, and to-be-used environment information is generated based on the to-be-used weather information and the to-be-used lighting information. By simulating the to-be-used environment information based on a scene simulation software, a to-be-used dynamic scene corresponding to the to-be-simulated road section can be obtained.

[0051] S130, rendering processing is performed on the to-be-used static scene and the to-be-used dynamic scene based on a to-be-used rendering model, and a target simulation scene corresponding to the to-be-simulated road section is obtained.

[0052] The to-be-used rendering model can be understood as a software model that can perform scene rendering, or can also be a rendering engine, such as a UE4 rendering engine. The target simulation scene can be understood as a simulation scene corresponding to the to-be-simulated road section obtained by processing the to-be-used static scene and the to-be-used dynamic scene corresponding to the to-be-simulated road section.

[0053] Optionally, the rendering processing of the to-be-used static scene and the to-be-used dynamic scene based on the to-be-used rendering model to obtain the target simulation scene corresponding to the to-be-simulated road section comprises: performing scene fusion processing on the to-be-used static scene and the to-be-used dynamic scene to obtain a to-be-rendered scene; and rendering the to-be-rendered scene based on the to-be-used rendering model to obtain the target simulation scene corresponding to the to-be-simulated road section.

[0054] Specifically, after obtaining the to-be-used static scene and the to-be-used dynamic scene, the to-be-used rendering model can perform fusion processing on the to-be-used static scene and the to-be-used dynamic scene, and render the fused to-be-rendered scene, thereby obtaining the target simulation scene corresponding to the to-be-simulated road section.

[0055] In actual application, after the rendering processing of the to-be-rendered scene based on the to-be-used rendering model to obtain the target simulation scene corresponding to the to-be-simulated road section, the method further comprises: performing visualization processing on the target simulation scene to obtain a to-be-displayed simulation scene; and sending the to-be-displayed simulation scene to a target display platform to display the to-be-displayed simulation scene based on the target display platform.

[0056] The technical scheme of the embodiment acquires static association information associated with the to-be-simulated road section, and generates a to-be-used static scene corresponding to the to-be-simulated road section according to the static association information. The static association information associated with the to-be-simulated road section is acquired through a map software, and the static association information is simulated based on a three-dimensional simulation software to obtain the to-be-used static scene corresponding to the to-be-simulated road section. Dynamic association information associated with the to-be-simulated road section is acquired, and a to-be-used dynamic scene corresponding to the to-be-simulated road section is generated according to the dynamic association information. The dynamic association information within a preset time period is acquired through a radar device or a camera device installed on the to-be-simulated road section, and the dynamic association information is simulated based on a dynamic simulation software to obtain the to-be-used dynamic scene corresponding to the to-be-simulated road section. The to-be-used static scene and the to-be-used dynamic scene are rendered based on the to-be-used rendering model to obtain the target simulation scene corresponding to the to-be-simulated road section. After the to-be-used static scene and the to-be-used dynamic scene are fused, the to-be-rendered scene is obtained, and the to-be-rendered scene is rendered to obtain the target simulation scene corresponding to the to-be-simulated road section. The problem that the simulation scene is not real enough is solved, and the effect that the simulation scene is closer to the real scene is achieved.

[0057] Embodiment Two

[0058] In practical applications, the component-based development method has become one of the important development modes for building a simulation scene, and therefore the improvement of the authenticity of the simulation component model is conducive to improving the reusability of the simulation component. The authenticity of the model is the degree of authenticity of the external state and behavior description of a certain side or the whole of the simulation object, which reflects the degree of authenticity of the characteristics, conditions, states and activities of the real world reproduced by the simulation model.

[0059] Taking the simulation of a vehicle driving scene as an example, in order to make the simulated driving scene closer to the real driving scene, first, based on a map software, static associated information corresponding to the to-be-simulated road section is obtained, such as Figure 2 As shown, including road attributes such as number, length, width, elevation, etc. attribute characteristics, and model attributes such as sidewalk, bus station, tunnel, bridge, etc. characteristics. After obtaining the static associated information, the static associated information is simulated based on a three-dimensional simulation software to obtain a to-be-used static scene corresponding to the to-be-simulated road section. At the same time, in order to be closer to the real scene, dynamic associated information corresponding to the to-be-simulated road section can also be obtained, such as traffic participants (i.e. traffic element information), wherein the traffic participant information can include traffic vehicle features such as lane line color, lane number, automatic vehicle lateral behavior and longitudinal behavior, and traffic signal features such as traffic signal lights and temporary traffic obstacles, etc., and also includes environment information associated with the to-be-simulated road section, such as weather information (to-be-used weather information) and lighting information (to-be-used lighting information), see Figure 3 After obtaining the dynamic associated information, the dynamic associated information is simulated based on a dynamic simulation software to obtain a to-be-used dynamic scene corresponding to the to-be-simulated road section.

[0060] Further, the to-be-used static scene and the to-be-used dynamic scene are fused to obtain a to-be-rendered scene, and the to-be-rendered scene is rendered based on a high-fidelity rendering engine (i.e. to-be-used rendering model), as shown in Figure 4 The global scene (i.e. to-be-rendered scene) is rendered based on the high-fidelity rendering engine, and in the rendering process, the scene information (i.e. to-be-used dynamic scene) can be fused into the scene control module (i.e. to-be-used static scene), that is, the corresponding road traffic object control and environment control are set in the to-be-used static scene, wherein the road traffic object control includes vehicle control, pedestrian control, obstacle control and streetlight control; the environment control includes time adjustment and weather effect adjustment, etc.

[0061] Specifically, based on the rendering model to be used, the global scene rendering target is re-allocated as needed for high-fidelity rendering requirements, so that it is large enough for the current view. A variety of culling methods are used to initialize the primitives for the view visibility, and dynamic shadows for this frame are set up, and the shadow cone is intersected with the world scene as needed (shadow or pre-shadow for the entire scene).

[0062] Render occluders, outputting only depth to the depth buffer, are used to initialize to reduce the shading consumption of the base pass. Render opaque and occluding materials, outputting material properties to the GBuffer. Lightmap contributions and sky lighting are also computed and added to the scene color. Deferred shading queries for InitViews are used for the next frame. This is done by rendering boxes around all the queried traffic participants, sometimes combining adjacent boxes to reduce draw calls.

[0063] Shadow maps are rendered for each light (e.g., different time of day or streetlights), and light contributions are accumulated to the scene color using standard deferred and tiled shading. Lights are also accumulated in transparent light volumes. Fog and other weather effects are computed per-pixel in the deferred pass for opaque surfaces. Translucency is accumulated to an offscreen render target, where it is applied per-vertex with fogging, so it can be integrated into the scene, resulting in a target simulation scene corresponding to the road segment to be simulated.

[0064] The technical scheme of the embodiment acquires static association information associated with the road segment to be simulated, and generates a static scene to be used corresponding to the road segment to be simulated according to the static association information. The static association information associated with the road segment to be simulated is acquired through a map software, and the static association information is simulated based on a three-dimensional simulation software, to obtain the static scene to be used corresponding to the road segment to be simulated. Dynamic association information associated with the road segment to be simulated is acquired, and a dynamic scene to be used corresponding to the road segment to be simulated is generated according to the dynamic association information. The dynamic association information within a preset time length is acquired through a radar device or a camera device installed on the road segment to be simulated, and the dynamic association information is simulated based on a dynamic simulation software, to obtain the dynamic scene to be used corresponding to the road segment to be simulated. The static scene to be used and the dynamic scene to be used are rendered based on a rendering model to be used, to obtain a target simulation scene corresponding to the road segment to be simulated. The static scene to be used and the dynamic scene to be used are fused to obtain a scene to be rendered, and the scene to be rendered is rendered, to obtain the target simulation scene corresponding to the road segment to be simulated. The problem that the simulation scene is not realistic enough is solved, and the effect that the simulation scene is closer to a real scene is achieved.

[0065] Embodiment three

[0066] Figure 5 A structure schematic diagram of an emulation scene generation device provided for Embodiment Three of the present application is shown in the figure, which comprises a static scene generation module 210, a dynamic scene generation module 220 and a target emulation scene determination module 230.

[0067] The static scene generation module 210 is configured to acquire static association information associated with the to-be-emulated road section, and generate a to-be-used static scene corresponding to the to-be-emulated road section according to the static association information; wherein the static association information comprises at least one of road shape information, road size information and public facility information.

[0068] The dynamic scene generation module 220 is configured to acquire dynamic association information associated with the to-be-emulated road section, and generate a to-be-used dynamic scene corresponding to the to-be-emulated road section according to the dynamic association information; wherein the dynamic association information comprises at least one of traffic element information, weather information and illumination information.

[0069] The target emulation scene determination module 230 is configured to perform rendering processing on the to-be-used static scene and the to-be-used dynamic scene based on a to-be-used rendering model, to obtain a target emulation scene corresponding to the to-be-emulated road section.

[0070] The technical scheme of the present embodiment acquires static association information associated with the to-be-emulated road section, and generates a to-be-used static scene corresponding to the to-be-emulated road section according to the static association information. The static association information associated with the to-be-emulated road section is acquired through a map software, and the static association information is simulated based on a three-dimensional emulation software, to obtain the to-be-used static scene corresponding to the to-be-emulated road section. The dynamic association information associated with the to-be-emulated road section is acquired, and a to-be-used dynamic scene corresponding to the to-be-emulated road section is generated according to the dynamic association information. The dynamic association information within a preset time length is acquired through a radar device or a camera device installed on the to-be-emulated road section, and the dynamic association information is simulated based on a dynamic emulation software, to obtain the to-be-used dynamic scene corresponding to the to-be-emulated road section. The to-be-used static scene and the to-be-used dynamic scene are rendered based on a to-be-used rendering model, to obtain a target emulation scene corresponding to the to-be-emulated road section. The to-be-used static scene and the to-be-used dynamic scene are fused to obtain a to-be-rendered scene, and the to-be-rendered scene is rendered, to obtain the target emulation scene corresponding to the to-be-emulated road section. The problem of the non-realistic emulation scene is solved, and the effect of making the emulation scene closer to the real scene is achieved.

[0071] Optionally, the static scene generation module comprises a to-be-used map information calling unit configured to call to-be-used map information corresponding to the to-be-emulated road section based on a map software.

[0072] The static association information determination unit is configured to determine static association information associated with the to-be-simulated road section according to the to-be-used map information.

[0073] Optionally, the static scene generation module comprises a geometric parameter determination unit configured to determine to-be-used geometric parameters corresponding to the to-be-used static association information.

[0074] The to-be-used static scene determination unit is configured to input the to-be-used geometric parameters into a three-dimensional simulation software, to simulate the to-be-used static association information based on the three-dimensional simulation software, and to obtain a to-be-used static scene corresponding to the to-be-simulated road section.

[0075] Optionally, the dynamic scene generation module comprises a dynamic association information acquisition unit configured to acquire dynamic association information associated with the to-be-simulated road section within a preset time period based on a radar device or a camera device installed on the to-be-simulated road section.

[0076] The to-be-used dynamic scene determination unit is configured to simulate the dynamic association information based on a dynamic simulation software, and to obtain a to-be-used dynamic scene corresponding to the to-be-simulated road section.

[0077] Optionally, the dynamic scene generation module comprises a to-be-used lighting information determination unit configured to determine to-be-used weather information and to-be-used lighting information corresponding to the to-be-simulated road section, wherein the to-be-used weather information comprises at least one of rain, fog, sandstorm, and clear weather, and the to-be-used lighting information is different lighting intensity information.

[0078] The to-be-used environment information generation unit is configured to generate to-be-used environment information based on the to-be-used weather information and the to-be-used lighting information.

[0079] The to-be-used dynamic scene determination unit is configured to simulate the to-be-used environment information based on a scene simulation software, and to obtain a to-be-used dynamic scene corresponding to the to-be-simulated road section.

[0080] Optionally, the target simulation scene determination module comprises a to-be-rendered scene determination unit configured to perform scene fusion processing on the to-be-used static scene and the to-be-used dynamic scene, to obtain a to-be-rendered scene.

[0081] The target simulation scene determination unit is configured to render the to-be-rendered scene based on the to-be-used rendering model, to obtain a target simulation scene corresponding to the to-be-simulated road section.

[0082] Optionally, the simulation scene generation apparatus further comprises a to-be-displayed simulation scene determination module configured to perform visual processing on the target simulation scene, to obtain a to-be-displayed simulation scene.

[0083] The simulation scene to be displayed display module is configured to send the simulation scene to be displayed to a target display platform, so that the target display platform displays the simulation scene to be displayed.

[0084] The simulation scene generation apparatus provided by the embodiments of the present application can execute the simulation scene generation method provided by any of the embodiments of the present application, and has the corresponding function modules and beneficial effects of the execution method.

[0085] Embodiment four

[0086] Figure 6 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular telephones, smart phones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0087] As shown in Figure 6 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0088] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, a speaker, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0089] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, and the like. The processor 11 performs various methods and processes described above, such as the simulation scenario generation method.

[0090] In some embodiments, the simulation scenario generation method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the simulation scenario generation method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the simulation scenario generation method by any other suitable means, such as by means of firmware.

[0091] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0092] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, and partially on a machine or a remote machine or a server.

[0093] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0094] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0095] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0096] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0097] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0098] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for generating a simulation scene, characterized in that, The method comprises the following steps: acquiring static association information associated with a to-be-simulated road section, and generating a to-be-used static scene corresponding to the to-be-simulated road section according to the static association information; wherein the static association information comprises at least one of road shape information, road size information, and public facility information; acquiring dynamic association information associated with the to-be-simulated road section, and generating a to-be-used dynamic scene corresponding to the to-be-simulated road section according to the dynamic association information; wherein the dynamic association information comprises at least one of traffic element information, weather information, and illumination information; the traffic element information comprises pedestrian, vehicle, and signal light information in the road; performing rendering processing on the to-be-used static scene and the to-be-used dynamic scene based on a to-be-used rendering model, to obtain a target simulation scene corresponding to the to-be-simulated road section; The method comprises the following steps: based on a radar device or a camera device installed on the to-be-simulated road section, collecting dynamic association information associated with the to-be-simulated road section within a preset time period; based on a dynamic simulation software, simulating the dynamic association information to obtain a to-be-used dynamic scene corresponding to the to-be-simulated road section; The method further comprises the following steps: determining to-be-used weather information and to-be-used illumination information corresponding to the to-be-simulated road section; wherein the to-be-used weather information comprises at least one of rain, fog, sandstorm, and clear weather, and the to-be-used illumination information is different illumination intensity information; based on the to-be-used weather information and the to-be-used illumination information, generating to-be-used environment information; based on a scene simulation software, simulating the to-be-used environment information to obtain a to-be-used dynamic scene corresponding to the to-be-simulated road section; The method comprises the following steps: performing scene fusion processing on the to-be-used static scene and the to-be-used dynamic scene to obtain a to-be-rendered scene; based on the to-be-used rendering model, rendering the to-be-rendered scene to obtain a target simulation scene corresponding to the to-be-simulated road section.

2. The method of claim 1, wherein, The method comprises the following steps: based on a map software, calling to-be-used map information corresponding to the to-be-simulated road section; according to the to-be-used map information, determining static association information associated with the to-be-simulated road section.

3. The method of claim 1, wherein, The method comprises the following steps: determining to-be-used geometric parameters corresponding to the to-be-used static association information; input the to-be-used geometric parameters into a three-dimensional simulation software, to simulate the to-be-used static association information based on the three-dimensional simulation software, and obtain a to-be-used static scene corresponding to the to-be-simulated road section.

4. The method of claim 1, wherein, After the rendering model is used to render the to-be-rendered scene, a target simulation scene corresponding to the to-be-simulated road section is obtained. visualize the target simulation scene, to obtain a to-be-displayed simulation scene; send the to-be-displayed simulation scene to a target display platform, to display the to-be-displayed simulation scene based on the target display platform.

5. A simulation scenario generation apparatus characterized by comprising: comprise: a static scene generation module, configured to acquire static association information associated with a to-be-simulated road section, and generate a to-be-used static scene corresponding to the to-be-simulated road section according to the static association information; wherein the static association information comprises at least one of road shape information, road size information, and public facility information; a dynamic scene generation module, configured to acquire dynamic association information associated with the to-be-simulated road section, and generate a to-be-used dynamic scene corresponding to the to-be-simulated road section according to the dynamic association information; wherein the dynamic association information comprises at least one of traffic element information, weather information, and illumination information; the traffic element information comprises pedestrian, vehicle, and signal light information in a road; a target simulation scene determination module, configured to render the to-be-used static scene and the to-be-used dynamic scene based on a to-be-used rendering model, to obtain a target simulation scene corresponding to the to-be-simulated road section; the dynamic scene generation module comprises: a dynamic association information collection unit, configured to collect dynamic association information associated with the to-be-simulated road section within a preset time length based on a radar device or a camera device installed on the to-be-simulated road section; a to-be-used dynamic scene determination unit, configured to simulate the dynamic association information based on a dynamic simulation software, to obtain a to-be-used dynamic scene corresponding to the to-be-simulated road section; a to-be-used illumination information determination unit, configured to determine to-be-used weather information and to-be-used illumination information corresponding to the to-be-simulated road section; wherein the to-be-used weather information comprises at least one of rain, fog, sandstorm, and sunny weather, and the to-be-used illumination information is different illumination intensity information; a to-be-used environment information generation unit, configured to generate to-be-used environment information based on the to-be-used weather information and the to-be-used illumination information; a to-be-used dynamic scene determination unit, configured to simulate the to-be-used environment information based on a scene simulation software, to obtain a to-be-used dynamic scene corresponding to the to-be-simulated road section; the target simulation scene determination module comprises: a to-be-rendered scene determination unit, configured to perform scene fusion processing on the to-be-used static scene and the to-be-used dynamic scene, to obtain a to-be-rendered scene; a target simulation scene determination unit, configured to render the to-be-rendered scene based on the to-be-used rendering model, to obtain a target simulation scene corresponding to the to-be-simulated road section.

6. An electronic device, comprising: The electronic device comprises: one or more processors; and A memory connected in communication with the at least one processor; wherein The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the method for generating a simulation scenario according to any one of claims 1-4.

7. A computer readable storage medium characterized by The computer readable storage medium stores computer instructions for causing a processor to implement the method for generating a simulation scenario according to any one of claims 1-4 when executed by the processor.

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