Method, system, device and medium for moving target object in simulation scenario

Abstract

The application provides a method, system, device and medium for moving a target object in a simulation scene. The method for moving the target object in the simulation scene comprises: establishing the simulation scene; obtaining key positions in the simulation scene according to a start position and an end position; determining a moving path of the target object according to the key positions; and moving the target object according to the moving path. The method for moving the target object in the simulation scene can improve the simulation speed.

Description

Technical Field

[0001] This invention relates to the field of simulation, and in particular to a method, system, device, and medium for moving a target object in a simulation scene. Background Technology

[0002] In simulation scenarios, it is necessary to simulate the motion state of the target object within the simulation environment. For example, in an emergency simulation scenario, the movement process of rescue equipment is simulated to complete the rescue simulation, and then rescue decisions are made based on the simulation results. The speed at which the rescue simulation results are obtained has a significant impact on the rescue operation. Summary of the Invention

[0003] This invention proposes a method, system, device, and medium for moving target objects in a simulation scenario, which is beneficial to improving the path planning speed of target objects in a simulation scenario.

[0004] In a first aspect, the present invention provides a method for moving a target object in a simulated scene, comprising:

[0005] Establish a simulation scenario;

[0006] The key locations in the simulation scene are obtained based on the starting and ending positions;

[0007] Determine the movement path of the target object based on key locations;

[0008] Move the target object according to the movement path.

[0009] In one embodiment, the method for moving a target object in the simulation scene includes establishing the simulation scene, which comprises:

[0010] Acquire sensory information about the simulation environment, and establish a simulation scene based on the sensory information; and / or,

[0011] Obtain modeling information of the simulation environment, and establish a simulation scene based on the modeling information;

[0012] The modeling information includes the building information model of the simulation environment.

[0013] In one embodiment, the method for moving a target object in the simulation scene includes obtaining key positions in the simulation scene based on the starting position and the ending position, which includes:

[0014] The ideal path is obtained by connecting the starting point and the ending point.

[0015] Based on the ideal path, a detection range is determined, wherein the detection range includes the ideal path, and the distance from the boundary of the detection range to the ideal path is less than a preset distance;

[0016] The detection range is detected according to preset features to obtain key locations in the simulation scene.

[0017] In one embodiment, the method for moving a target object in the simulation scene includes determining the movement path of the target object based on key locations, which comprises:

[0018] Each of the aforementioned key locations will be used as the starting search point;

[0019] Starting from the initial search point, a route node is established on the road at preset distances according to the evaluation function until route nodes from different initial search points meet.

[0020] Based on the route nodes, determine the movement path of the target object.

[0021] In one embodiment, the method for moving a target object in the simulation scenario includes, starting from the initial search point, establishing a route node at preset distances on the road according to an evaluation function until route nodes from different initial search points meet, comprising:

[0022] Establish one or more candidate route nodes at a preset distance from the first route node;

[0023] Calculate the evaluation function corresponding to the candidate route node to obtain the evaluation function value of the candidate route node;

[0024] Obtain candidate route nodes whose evaluation function values ​​meet preset conditions to obtain the second route node;

[0025] When the distance between the second route node and the third route node is less than a preset distance, the second route node and the third route node are connected, wherein the third route node and the second route node have different starting search points.

[0026] In one embodiment, the method for moving a target object in the simulation scene includes an evaluation function that is the sum of a first evaluation value and a second evaluation value.

[0027] The first evaluation value is the cumulative value of new evaluation values ​​from the key location to the current route node;

[0028] The second evaluation value is a new evaluation value generated based on the newly added route nodes;

[0029] The newly added evaluation value is positively correlated with the distance between the newly added route node and the current route node, and the newly added evaluation value is positively correlated with the minimum distance between the newly added route node and the non-road area.

[0030] In one embodiment, the method for moving a target object in the simulation scenario includes a preset condition of obtaining candidate route nodes whose evaluation values ​​are greater than or equal to the comparison values.

[0031] The comparison value is calculated as follows:

[0032] P c =P avg +(P max -P avg )×h

[0033] Among them, P c For comparison, P avg P represents the average of the newly added evaluation values ​​corresponding to each candidate route node. max The maximum new evaluation value among the new evaluation values ​​corresponding to each candidate route node, h is the adjustment coefficient, 0≤h≤1.

[0034] Secondly, a system for moving a target object in a simulated scene is provided, comprising:

[0035] Create a module to build simulation scenarios;

[0036] The acquisition module is used to acquire key positions in the simulation scene based on the start position and the end position;

[0037] The determination module is used to determine the movement path of the target object based on key locations;

[0038] The movement module is used to move the target object according to the movement path.

[0039] Thirdly, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program executable on the processor, wherein when the processor executes the program, it implements the steps of the method for moving a target object in a simulation scenario as described above.

[0040] Fourthly, a storage medium is provided on which a computer program is stored, wherein when the computer program is executed by a processor, it implements the steps of the method for moving a target object in the simulation scenario as described above.

[0041] The method for moving a target object in a simulation scenario according to the present invention can obtain key positions in the simulation scenario based on the starting position and the ending position; determine the movement path of the target object based on the key positions; and then move the target object according to the movement path, which is beneficial to quickly obtain simulation results. Attached Figure Description

[0042] Various other advantages and benefits of the present invention will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiments below. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. It is obvious that the drawings described below are merely some embodiments of the invention, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0043] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0044] Figure 1 This is a flowchart of a method for moving a target object in a simulation scenario according to an embodiment of the present invention;

[0045] Figure 2 This is a schematic diagram of key locations in a simulation scenario according to an embodiment of the present invention;

[0046] Figure 3 This is a schematic diagram of the exploration of route nodes in a simulation scenario in one embodiment of the present invention;

[0047] Figure 4 This is a schematic diagram of a movement path in a simulation scene according to one embodiment of the present invention;

[0048] Figure 5 This is a schematic diagram of the structure of a target object movement system in a simulation scenario according to an embodiment of the present invention;

[0049] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0050] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0051] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application, are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0052] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0054] Example 1

[0055] In an emergency rescue simulation scenario, it is necessary to plan the rescue route of rescue tools and control the movement of rescue equipment according to the planned route to realize the simulation of emergency rescue and to evaluate the rescue plan in the simulation scenario. To this end, this embodiment provides a method for moving a target object in a simulation scenario. This method can be applied to mobile devices such as mobile phones and laptops, as well as fixed devices such as desktop computers and televisions, to complete the movement of the target object in the simulation scenario and help users determine the rescue plan.

[0056] Figure 1 This is a flowchart illustrating the movement method of the target object in the simulation scenario of this implementation. Please refer to [link / reference]. Figure 1 The method for moving a target object in a simulation scenario includes steps 10, 20, 30, and 40.

[0057] Step 10: Establish a simulation scenario.

[0058] The simulation scenario is a virtual environment based on the mission location. The scenario can be modeled using scanning and geometric modeling techniques, transferring the real-world scene into the virtual digital world. Optionally, the simulation scenario includes systems such as rescue equipment, roads, buildings, bridges, smoke, and weather.

[0059] Step 20: Obtain key locations in the simulation scene based on the starting and ending positions.

[0060] Key locations can be understood as important places in a simulation scenario; they can be locations that facilitate determining the optimal movement path or locations that facilitate quickly obtaining a movement path. Key locations usually contain some preset features, and these preset features can be detected to identify key locations in the simulation scenario. For example, a key location is an intersection.

[0061] Optionally, since the starting and ending positions play an indispensable role, the key positions include the starting and ending positions.

[0062] Step 30: Determine the movement path of the target object based on key locations.

[0063] Since key locations are positions with preset characteristics in the simulation scene, using key locations as references to determine the movement path of the target object can guide the planning of the movement path and reduce the occurrence of movement path failures.

[0064] Understandably, compared to obtaining a movement path based on a starting and ending point, having two or more key locations allows for exploration to begin from multiple key locations, thus facilitating the rapid acquisition of a movement path.

[0065] Step 40: Move the target object according to the movement path.

[0066] Based on the movement path and preset speed, the position of the target object at different times is determined, thereby realizing the movement simulation of the target object.

[0067] The method for moving a target object in the simulation scenario in this embodiment can obtain key positions in the simulation scenario based on the starting position and the ending position; determine the movement path of the target object based on the key positions; and then move the target object according to the movement path, which is beneficial for quickly obtaining simulation results.

[0068] One embodiment of the method for moving a target object in a simulation scene includes establishing a simulation scene, which includes: step 101 and / or step 102.

[0069] Step 101: Obtain the perception information of the simulation environment and establish a simulation scene based on the perception information.

[0070] The simulation environment is scanned using a scanning device to obtain perceptual information, such as 3D point cloud data. A simulation scene is then built based on this perceptual information. For example, the simulation scene can be obtained by constructing buildings and the environment using simulation scene software based on the 3D point cloud data.

[0071] Step 102: Obtain the modeling information of the simulation environment and establish a simulation scene based on the modeling information. The modeling information includes the building information model of the simulation environment.

[0072] Modeling information can be design data for various buildings in the simulation environment. For example, when the simulation environment is a building, a simulation scene can be built based on the building information model of that building. For instance, WebGL can be used to reconstruct the building information model to complete a building-based simulation environment.

[0073] Furthermore, simulation scenarios can be constructed using reverse engineering techniques based on Building Information Modeling (BIM). For example, if a simulation is needed based on an existing target building, 3D point cloud data of the target building can be collected. Then, the 3D point cloud data can be identified using BIM software, and the target building can be constructed in the BIM software based on the 3D point cloud data to obtain a building-based simulation environment.

[0074] One embodiment of the method for moving a target object in a simulation scene includes obtaining key positions in the simulation scene based on the starting position and the ending position, comprising steps 201, 202 and 203.

[0075] Step 201: Obtain the ideal path by connecting the starting point and the ending point.

[0076] Please see Figure 2 Establish a line L1 connecting the starting position A1 and the ending position A4, which is the ideal path L1.

[0077] Step 202: Determine the detection range based on the ideal path, wherein the detection range includes the ideal path, and the distance from the boundary of the detection range to the ideal path is less than a preset distance.

[0078] Please see Figure 2 The detection range is the area between boundary line L2 and boundary line L3. The distance from line L1 to boundary line L2 is equal to the distance from boundary line L3 to line L1.

[0079] Step 203: Detect the detection range according to the preset features to obtain the key positions in the simulation scene.

[0080] The preset features can be one or more of the following: roads, intersections. For example... Figure 2 The key positions include: position A1, position A2, position A3, and position A4.

[0081] Compared to full-scene detection, detecting only the detection range allows for the identification of key locations within the simulated scene, which helps reduce computational load and improve running speed.

[0082] Optionally, the detection range can be detected based on preset features by performing target detection on the detection range using a deep learning-based neural network, thereby determining key locations in the simulation scene.

[0083] One embodiment of the method for moving a target object in a simulation scene includes determining the movement path of the target object based on key locations, comprising steps 301, 302, and 303.

[0084] Step 301: Use each key location as the starting search point.

[0085] Each key location is used as a starting point for the search, and the search proceeds in multiple directions.

[0086] Step 302: Starting from the initial search point, establish a route node at preset distances on the road according to the evaluation function until route nodes from different initial search points meet.

[0087] Please see Figure 3 It starts from the initial search point and explores the surrounding area, thereby establishing a route node at preset intervals along the road.

[0088] The exploration process, starting from the initial search point and extending outwards, can specifically involve searching in multiple directions from the initial search point, creating candidate route nodes at preset distances. For example, searching in eight equally distributed directions from the initial search point, creating candidate route nodes at preset distances. When a candidate route node meets a preset condition, a new route node is obtained. This process is repeated to obtain multiple route nodes until they meet route nodes corresponding to other initial search points. The preset conditions are related to the evaluation function.

[0089] Step 303: Determine the movement path of the target object based on the route nodes.

[0090] Please see Figure 4 By connecting the route nodes, the optimal movement path can be obtained, such as the movement path with the shortest distance. In addition, the movement path can be smoothed.

[0091] One embodiment of the method for moving a target object in a simulation scenario includes steps 311, 312, 313, and 314, in which a route node is established at preset distances on the road according to an evaluation function, starting from the initial search point, until the route nodes from different initial search points meet.

[0092] Step 311: Establish one or more candidate route nodes at a preset distance from the first route node.

[0093] Optionally, candidate route nodes are created at preset distances in multiple exploration directions of the first route node. The number of candidate route nodes is the same as the number of exploration directions. When a candidate route node is located outside the road (non-road area), the candidate route node is deleted.

[0094] Step 312: Calculate the evaluation function corresponding to the candidate route node to obtain the evaluation function value of the candidate route node.

[0095] The evaluation function is used to filter multiple candidate route nodes according to preset criteria to obtain candidate route nodes that meet the requirements.

[0096] The evaluation function can ensure that the selected candidate route nodes are located within the road and far from the first route node, as well as far from surrounding non-road areas. The evaluation function also helps to bring the selected candidate route nodes closer to other starting search points and further away from their own starting search point.

[0097] Step 313: Obtain candidate route nodes whose evaluation function values ​​meet preset conditions to obtain the second route node.

[0098] The evaluation function is used to filter multiple candidate route nodes to obtain the candidate route nodes that meet the preset conditions, namely the second route nodes.

[0099] It should be noted that there can be multiple second route nodes, meaning the movement path has branched off, with the first route node acting as a fork in the road. Subsequently, the multiple second route nodes can be explored independently, and an evaluation function can be used to evaluate each exploration separately, which helps to obtain the optimal movement path.

[0100] Step 314: When the distance between the second route node and the third route node is less than the preset distance, connect the second route node and the third route node, wherein the starting search points of the third route node and the second route node are different.

[0101] In other words, when the movement paths of two different starting search points meet, the corresponding exploration process can be ended, and the two movement paths can be connected.

[0102] Finally, based on the route nodes and the starting search point, the final movement path is determined. For example, a movement path that connects the starting and ending points is determined from all the route nodes and the starting search point.

[0103] In one embodiment, the method for moving a target object in a simulation scenario includes an evaluation function that is the sum of a first evaluation value and a second evaluation value.

[0104] P = P1 + P2

[0105] Where P is the evaluation function, P1 is the first evaluation value, and P2 is the second evaluation value. The first evaluation value is the cumulative value of new evaluation values ​​from the key location to the current route node; the second evaluation value is the new evaluation value generated based on the new route node.

[0106] Understandably, for the first route node, the second route node is a newly added route node.

[0107] The second evaluation value is positively correlated with the newly added evaluation value. For example, P2 = a × P c

[0108] Where 'a' is a coefficient or function used to adjust the range of P2.

[0109] Optionally, the new evaluation value is positively correlated with the distance between the new route node and the current route node, and the new evaluation value is positively correlated with the minimum distance between the new route node and the non-road area.

[0110] For example, P c =(x1-x2) 2 +(y1-y2) 2 +(x1-x z ) 2 +(y1-y z ) 2

[0111] x1 and y1 are the coordinates of the newly added route node, and x2 and y2 are the coordinates of the current route node. z and y z The coordinates of the obstacle point that is closest to the newly added route node.

[0112] In one embodiment, the method for moving a target object in a simulation scenario includes a preset condition of obtaining candidate route nodes whose evaluation values ​​are greater than or equal to the comparison values.

[0113] The comparison value is calculated as follows:

[0114] P c =P avg +(P max -P avg )×h

[0115] Among them, P c For comparison, P avg P represents the average of the newly added evaluation values ​​corresponding to each candidate route node. max The maximum new evaluation value among the new evaluation values ​​corresponding to each candidate route node, h is the adjustment coefficient, 0≤h≤1.

[0116] h is determined based on the actual scenario; optionally, h can be 0.2, 0.5, 0.8, or 0.9.

[0117] Understandably, the larger the newly added evaluation value, the more likely the corresponding candidate route node is to meet the requirements. For example, a larger newly added evaluation value means a greater distance between the new route node and the current route node, and a greater minimum distance between the new route node and the non-road area.

[0118] By acquiring candidate route nodes whose evaluation values ​​are greater than or equal to the comparison values, it is beneficial to obtain multiple route nodes located in the middle of the road and extending in the direction of road extension.

[0119] Example 2

[0120] Figure 5 This is a schematic diagram of the structure of a target object movement system 50 in a simulation scenario according to this embodiment. Figure 5 As shown, the target object's movement system 50 in this simulation scenario includes:

[0121] Module 501 is created to establish the simulation scenario;

[0122] The acquisition module 502 is used to acquire key positions in the simulation scene based on the starting position and the ending position;

[0123] The determination module 503 is used to determine the movement path of the target object based on key locations;

[0124] The moving module 504 is used to move the target object according to the moving path.

[0125] The target object movement system in the simulation scenario of this embodiment can obtain key positions in the simulation scenario based on the starting position and the ending position; determine the movement path of the target object based on the key positions; and then move the target object according to the movement path, which is conducive to quickly obtaining simulation results.

[0126] In one embodiment, the establishment module 501 is also used to acquire perception information of the simulation environment and establish a simulation scene based on the perception information.

[0127] In one embodiment, the establishment module 501 is also used to acquire modeling information of the simulation environment and establish a simulation scene based on the modeling information;

[0128] The modeling information includes the building information model of the simulation environment.

[0129] In one embodiment, the acquisition module 502 is further configured to obtain an ideal path based on the line connecting the starting position and the ending position; determine a detection range based on the ideal path, wherein the detection range includes the ideal path and the distance from the boundary of the detection range to the ideal path is less than a preset distance; and detect the detection range based on preset features to obtain key positions in the simulation scene.

[0130] In one embodiment, the determining module 503 is further configured to use each key location as a starting search point; starting from the starting search point, establish a route node at preset distances on the road according to the evaluation function until the route nodes from different starting search points meet; and determine the movement path of the target object based on the route nodes.

[0131] In one embodiment, the determining module 503 is further configured to establish one or more candidate route nodes at a preset distance from the first route node; calculate the evaluation function corresponding to the candidate route node to obtain the evaluation function value of the candidate route node; obtain the candidate route node whose evaluation function value satisfies the preset condition to obtain the second route node; when the distance between the second route node and the third route node is less than the preset distance, connect the second route node and the third route node, wherein the starting search point corresponding to the third route node and the second route node is different.

[0132] In one implementation, the evaluation function is the sum of a first evaluation value and a second evaluation value; the first evaluation value is the cumulative value of new evaluation values ​​from the key location to the current route node; the second evaluation value is the new evaluation value generated based on the new route node; wherein, the new evaluation value is positively correlated with the distance between the new route node and the current route node, and the new evaluation value is positively correlated with the minimum distance between the new route node and the non-road area.

[0133] In one implementation, the preset condition is to obtain candidate route nodes whose new evaluation value is greater than or equal to the comparison value;

[0134] The comparison value is calculated as follows:

[0135] P c =P avg +(P max -P avg )×h

[0136] Among them, P c For comparison, P avg P represents the average of the newly added evaluation values ​​corresponding to each candidate route node. max The maximum new evaluation value among the new evaluation values ​​corresponding to each candidate route node, h is the adjustment coefficient, 0≤h≤1.

[0137] In this embodiment, the target object movement system 50 in the simulation scenario corresponds to the target object movement method in the simulation scenario. The operating principle of the target object movement system 50 in the simulation scenario can be referred to the target object movement method in the simulation scenario described above, and will not be repeated here.

[0138] Example 3

[0139] Figure 6 This is a schematic diagram of the structure of an electronic device according to the present invention. The electronic device includes a memory 601 and a processor 602. The memory 601 stores a computer program that can run on the processor 602, wherein when the processor 602 executes the program, it implements the steps of the method for moving the target object in the simulation scenario described above.

[0140] The electronic device includes a memory 601 and a processor 602 that are interconnected via a system bus 603. It should be noted that only an electronic device with components 601-603 is shown in the figure; however, it should be understood that it is not required to implement all the shown components, and more or fewer components may be implemented alternatively. Those skilled in the art will understand that the electronic device described herein is one capable of automatically performing numerical calculations and / or information processing according to pre-set or stored instructions. Its hardware includes, but is not limited to, microprocessors, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0141] Electronic devices can be computing devices such as desktop computers, laptops, PDAs, and cloud servers. These devices can interact with users through keyboards, mice, remote controls, touchpads, or voice-activated devices.

[0142] The memory 601 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 601 may be an internal storage unit of the device, such as the hard disk or memory of the device. In other embodiments, the memory 601 may also be an external storage device of the device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., provided on the device. Of course, the memory 601 may also include both internal storage units and external storage devices of the device. In this embodiment, the memory 601 is typically used to store the operating system and various application software installed on the device. In addition, the memory 601 may also be used to temporarily store various types of data that have been output or will be output.

[0143] In some embodiments, the processor may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor is typically used to control the overall operation of the device. In this embodiment, the processor is used to execute computer-readable instructions stored in memory or to process data.

[0144] Example 4

[0145] The present invention provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the method for moving a target object in the above simulation scenario.

[0146] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods of the various embodiments of this application.

[0147] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. A method for moving a target object in a simulated scene, characterized in that, include: Establish a simulation scenario; The key locations in the simulation scene are obtained based on the starting and ending positions; Determine the movement path of the target object based on key locations; Move the target object according to the movement path; Determining the movement path of the target object based on key locations includes: Each of the aforementioned key locations will be used as the starting search point; Starting from the initial search point, a route node is established on the road at preset distances according to the evaluation function until route nodes from different initial search points meet. Based on the route nodes, determine the movement path of the target object; Starting from the initial search point, a route node is established at preset distances along the road according to an evaluation function until route nodes from different initial search points meet, including: One or more candidate route nodes are established at a preset distance from the first route node; when a candidate route node is located outside the road, the candidate route node located outside the road is deleted. Calculate the evaluation function corresponding to the candidate route node to obtain the evaluation function value of the candidate route node; Obtain candidate route nodes whose evaluation function values ​​meet preset conditions to obtain the second route node; When the distance between the second route node and the third route node is less than a preset distance, the second route node and the third route node are connected, wherein the third route node and the second route node have different starting search points.

2. The method for moving a target object in a simulation scene according to claim 1, characterized in that, The establishment of the simulation scenario includes: Acquire sensory information about the simulation environment, and establish a simulation scene based on the sensory information; and / or, Obtain modeling information of the simulation environment, and establish a simulation scene based on the modeling information; The modeling information includes the building information model of the simulation environment.

3. The method for moving a target object in a simulation scene according to claim 1, characterized in that, The step of obtaining key locations in the simulation scene based on the start and end positions includes: The ideal path is obtained by connecting the starting point and the ending point. Based on the ideal path, a detection range is determined, wherein the detection range includes the ideal path, and the distance from the boundary of the detection range to the ideal path is less than a preset distance; The detection range is detected according to preset features to obtain key locations in the simulation scene.

4. The method for moving a target object in a simulation scene according to claim 1, characterized in that, The evaluation function is the sum of the first evaluation value and the second evaluation value; The first evaluation value is the cumulative value of new evaluation values ​​from the key location to the current route node; The second evaluation value is a new evaluation value generated based on the newly added route nodes; The newly added evaluation value is positively correlated with the distance between the newly added route node and the current route node, and the newly added evaluation value is positively correlated with the minimum distance between the newly added route node and the non-road area.

5. The method for moving a target object in a simulation scene according to claim 4, characterized in that, The preset condition is to obtain candidate route nodes whose newly added evaluation value is greater than or equal to the comparison value; The comparison value is calculated as follows: P c =P avg +(P max -P avg )×h Among them, P c For comparison, P avg P represents the average of the newly added evaluation values ​​corresponding to each candidate route node. max The maximum new evaluation value among the new evaluation values ​​corresponding to each candidate route node, h is the adjustment coefficient, 0≤h≤1.

6. A system for moving a target object in a simulation scene for performing the steps of the method for moving a target object in a simulation scene as described in claim 1, characterized in that, include: Create a module to build simulation scenarios; The acquisition module is used to acquire key positions in the simulation scene based on the start position and the end position; The determination module is used to determine the movement path of the target object based on key locations; The step of determining the movement path of the target object based on key locations includes: using each of the key locations as a starting search point; starting from the starting search point, establishing a route node at preset distances on the road according to an evaluation function until the route nodes from different starting search points meet; and determining the movement path of the target object based on the route nodes. Starting from the initial search point, a route node is established at preset distances along the road according to an evaluation function until route nodes from different initial search points meet. This includes: establishing one or more candidate route nodes at a preset distance from the first route node; deleting a candidate route node located outside the road when it is; calculating the evaluation function corresponding to the candidate route node to obtain its evaluation function value; obtaining a second route node whose evaluation function value satisfies a preset condition; and connecting the second route node and the third route node when the distance between the second route node and the third route node is less than a preset distance, wherein the third route node and the second route node correspond to different initial search points. The movement module is used to move the target object according to the movement path.

7. An electronic device comprising a memory and a processor, the memory storing a computer program executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method for moving a target object in a simulation scene as described in any one of claims 1 to 5.

8. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method for moving a target object in a simulation scene as described in any one of claims 1 to 5.

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