A method, apparatus, vehicle, and electronic device for generating terrain models.

Abstract

This application provides a method, apparatus, vehicle, and electronic device for generating a terrain model. The method includes: acquiring initial coordinate data of each vertex of a basic terrain model and scene information of the current driving environment; determining, based on the scene information, the coordinates of the vector corresponding to each vertex of the basic terrain model and a perturbation factor of the scene information; determining, based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, the target coordinate data of each target vertex corresponding to the scene information; and generating a terrain model corresponding to the scene information based on the target coordinate data of each target vertex. This method reduces resource and performance consumption while ensuring the scene effect is accurately represented, thus improving the user experience.

Description

Technical Field

[0001] This application relates to the field of 3D engine technology, and in particular to a method, apparatus, vehicle, and electronic device for generating terrain models. Background Technology

[0002] With the continuous development of intelligent cockpits, the computing power of in-vehicle chips has greatly improved, and users' visual requirements are also increasing. 3D engine technology has been applied to the design of intelligent cockpit HMI (Human Machine Interface). Currently, 3D engine technology in intelligent cockpit HMI design is mainly used for instrument panel animation development, interaction of the central control 3D car model, navigation, the recreation of various application scenarios, and driving mode switching. In the recreation of the world or driving mode switching, to achieve realistic visual effects, the driving scene needs to switch with the mode; for example, mountain mode and snow mode need to present corresponding mountain and snow effects.

[0003] However, existing terrain creation techniques consume significant resources and performance in smart cockpits. To meet the functional and resource performance requirements of the cockpit, HMI design typically uses a flat model to display terrain, applying different materials to achieve the effects of mountains, snow, or urban roads. This approach consumes fewer resources and has relatively low performance requirements, satisfying the needs of smart cockpits. However, 3D terrain data without height information, after being textured, results in poor scene rendering and a subpar user experience. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide a method, apparatus, vehicle and electronic device for generating terrain models, so as to overcome the problems of excessive resource consumption, poor performance or generation effect and poor user experience in the prior art when generating 3D terrain models.

[0005] In a first aspect, this application provides a method for generating a terrain model, the method comprising:

[0006] Obtain the initial coordinate data of each vertex of the basic terrain model and the scene information of the current driving environment;

[0007] Based on the scene information, determine the coordinates and perturbation factors of each vertex of the basic terrain model corresponding to the vector of the scene information;

[0008] Based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, determine the target coordinate data of each target vertex corresponding to the scene information;

[0009] Based on the target coordinate data of each target vertex, a terrain model corresponding to the scene information is generated.

[0010] Optionally, determining the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor includes:

[0011] Based on the coordinates of the vectors corresponding to the scene information for each vertex and the perturbation factor, the initial coordinate data of each vertex of the basic terrain model are adjusted to obtain the target coordinate data of each target vertex corresponding to the scene information.

[0012] Optionally, determining the coordinates and perturbation factors of the vector corresponding to each vertex of the basic terrain model based on the scene information, according to the scene information, includes:

[0013] Based on the changes in terrain of the current driving environment at different times as represented by the scene information, determine the coordinate values ​​of each vertex of the basic terrain model corresponding to the vector of the scene information at different times;

[0014] Based on the scene information, the initial noise of the basic terrain model is temporally intervened to determine the value of the disturbance factor of the scene information corresponding to each vertex of the basic terrain model at different times. The basic terrain model is generated through noise.

[0015] Optionally, adjusting the initial coordinate data of each vertex of the basic terrain model based on the coordinates of the vectors corresponding to the scene information and the perturbation factor of each vertex to obtain the target coordinate data of each target vertex corresponding to the scene information includes:

[0016] Based on the coordinates of the vectors corresponding to the scene information of each vertex at different times and the values ​​of the disturbance factors corresponding to the scene information of each vertex at different times, the target coordinate data of each target vertex corresponding to the scene information at different times are determined.

[0017] Optionally, determining the coordinates and perturbation factors of the vector corresponding to each vertex of the basic terrain model based on the scene information, according to the scene information, includes:

[0018] Obtain the road condition information of the current driving segment in the scene information, and identify the road condition information;

[0019] If potholes or obstacles are detected in the road condition information, obtain the size information of the potholes or obstacles;

[0020] Based on the size information of the pothole or the obstacle, determine the vector coordinates and disturbance factors of the pothole or the obstacle in the basic terrain model corresponding to each vertex of the road condition information.

[0021] Optionally, determining the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor includes:

[0022] Based on the coordinates of the vectors corresponding to each vertex of the road condition information in the basic terrain model, and the disturbance factor, the target coordinate data of each target vertex corresponding to the initial coordinate data of each vertex of the road condition information for the pothole or the obstacle are determined.

[0023] Optionally, it also includes:

[0024] Based on the scene information of the current driving environment, obtain the texture corresponding to the scene information;

[0025] The texture corresponding to the scene information is assigned to the terrain model to generate the target terrain model corresponding to the scene information.

[0026] A second aspect of this application provides a terrain model generation apparatus, the apparatus comprising:

[0027] The acquisition module is used to acquire the initial coordinate data of each vertex of the basic terrain model and the scene information of the current driving environment;

[0028] The first determining module is used to determine the coordinates and perturbation factors of the vector corresponding to the scene information for each vertex of the basic terrain model, based on the scene information.

[0029] The second determining module is used to determine the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor.

[0030] The generation module is used to generate a terrain model corresponding to the scene information based on the target coordinate data of each target vertex.

[0031] Optionally, the second determining module, which determines the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, includes:

[0032] The adjustment submodule is used to adjust the initial coordinate data of each vertex of the basic terrain model according to the coordinates of the vector corresponding to the scene information and the perturbation factor of each vertex, so as to obtain the target coordinate data of each target vertex corresponding to the scene information.

[0033] Optionally, the first determining module, based on the scene information, determines the coordinates and perturbation factors of the vector corresponding to each vertex of the basic terrain model in the scene information, wherein the first determining module includes:

[0034] The first determining submodule is used to determine the coordinate values ​​of the vectors corresponding to the scene information of each vertex of the basic terrain model at different times, based on the changes in terrain of the current driving environment represented by the scene information at different times.

[0035] The second determining submodule is used to perform time intervention on the initial noise of the basic terrain model according to the scene information, and determine the value of the disturbance factor of the scene information corresponding to each vertex of the basic terrain model at different times. The basic terrain model is generated by noise.

[0036] Optionally, the adjustment submodule, which adjusts the initial coordinate data of each vertex of the basic terrain model based on the coordinates of the vectors corresponding to the scene information and the perturbation factor of each vertex, to obtain the target coordinate data of each target vertex corresponding to the scene information, includes:

[0037] The first determining subunit is used to determine the target coordinate data of each target vertex corresponding to the scene information at different times based on the values ​​of the coordinates of the vectors corresponding to the scene information of each vertex at different times and the values ​​of the disturbance factors corresponding to the scene information of each vertex at different times.

[0038] Optionally, the first determining submodule, which determines the coordinates and perturbation factors of the vector corresponding to each vertex of the basic terrain model based on the scene information, includes:

[0039] The first acquisition subunit is used to acquire the road condition information of the current driving segment in the scene information and to identify the road condition information.

[0040] The second acquisition subunit is used to acquire the size information of the pothole or the obstacle if the road condition information is identified as having a pothole or obstacle.

[0041] The second determining subunit is used to determine, based on the size information of the pit or the obstacle, the vector coordinates and disturbance factors of the pit or the obstacle in the basic terrain model corresponding to each vertex of the road condition information.

[0042] Optionally, the second determining module, which determines the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, includes:

[0043] The third determining submodule is used to determine the target coordinate data of each target vertex corresponding to the initial coordinate data of the pit or obstacle corresponding to each vertex of the road condition information in the basic terrain model, based on the vector coordinates and disturbance factors of the pit or obstacle.

[0044] Optionally, it also includes:

[0045] The first acquisition submodule is used to acquire a texture corresponding to the scene information based on the scene information of the current driving environment;

[0046] The generation submodule is used to assign the texture corresponding to the scene information to the terrain model and generate the target terrain model corresponding to the scene information.

[0047] A third aspect of this application provides a vehicle that includes a terrain model generation apparatus as described in the second aspect of this application.

[0048] A fourth aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the terrain model generation method as described in the first aspect of this application.

[0049] This application has the following advantages:

[0050] This application provides a method for generating a terrain model. The method includes: acquiring initial coordinate data of each vertex of a basic terrain model and scene information of the current driving environment; determining, based on the scene information, the coordinates of the vector corresponding to each vertex of the basic terrain model and a perturbation factor of the scene information; determining, based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, the target coordinate data of each target vertex corresponding to the scene information; and generating a terrain model corresponding to the scene information based on the target coordinate data of each target vertex. In this application embodiment, based on a basic terrain model, each vertex in the model is adjusted through vectors and perturbation factors, thereby achieving the effect of deriving multiple terrains from a single basic terrain model. This reduces resource and performance consumption while ensuring the scene effect is reflected, thus improving the user experience. Attached Figure Description

[0051] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0052] Figure 1 This is a flowchart illustrating the steps of a terrain model generation method provided in an embodiment of this application;

[0053] Figure 2 This is a flowchart illustrating the output of target coordinate data provided in an embodiment of this application.

[0054] Figure 3 This is a schematic diagram of a terrain model generation device provided in an embodiment of this application;

[0055] Figure 4 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0056] Exemplary embodiments of this application will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of this application and to fully convey the scope of this application to those skilled in the art.

[0057] A first aspect of this application provides a method for generating a terrain model, referring to... Figure 1The above is a flowchart illustrating the steps of a method for generating a terrain model according to an embodiment of this application. The method includes:

[0058] Step S101: Obtain the initial coordinate data of each vertex of the basic terrain model and the scene information of the current driving environment;

[0059] Step S102: Based on the scene information, determine the coordinates and perturbation factors of the vector corresponding to the scene information for each vertex of the basic terrain model.

[0060] Step S103: Determine the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor.

[0061] Step S104: Generate a terrain model corresponding to the scene information based on the target coordinate data of each target vertex.

[0062] Specifically, in this embodiment, a basic terrain model is loaded into the vehicle's onboard host, and the initial coordinate data of each vertex of the basic terrain model and scene information of the vehicle's current driving environment are obtained. In practical applications, images of the vehicle's current driving environment can be obtained through a camera installed on the vehicle or through the vehicle's dashcam, and the images of the current driving environment can be identified to determine the scene information of the current driving environment. Specifically, the scene information can be mountainous, snowy, urban, or other similar scenes.

[0063] Furthermore, based on the scene information of the current driving environment, the coordinates and perturbation factors of the vector corresponding to the scene information for each vertex of the basic terrain model are determined. Based on the coordinates and perturbation factors of the vector corresponding to the scene information for each vertex, the initial coordinate data of each vertex of the basic terrain model are adjusted to obtain the target coordinate data of each target vertex corresponding to the scene information.

[0064] Specifically, based on the terrain changes of the current driving environment at different times as represented by the scene information, the coordinates of each vertex of the basic terrain model corresponding to the vector of the scene information are determined at different times. Based on the scene information, the initial noise of the basic terrain model is temporally intervened to determine the disturbance factor of each vertex of the basic terrain model corresponding to the scene information at different times. The basic terrain model is generated through noise. In practical applications, different scene information corresponds to different terrains in the current driving environment. In this embodiment, the coordinates of each vertex of the basic terrain model corresponding to the vector of the scene information are determined at different times based on the terrain changes of the current driving environment corresponding to different scene information.

[0065] On the other hand, an initial terrain model is generated using a noise algorithm, and based on the current scene information and the terrain conditions of the current driving environment, the terrain model generated by the noise algorithm, while exhibiting randomness, does not match the changing terrain well. Therefore, the initial noise of the basic terrain model is influenced by time, i.e., temporal intervention is applied to the noise of the basic terrain model to determine the values ​​of the disturbance factors of the scene information corresponding to each vertex of the basic terrain model at different times. Specifically, the basic terrain model is generated by noise. Assuming that the randomness of the noise produces a random combination of black and white, with black being 1 and white being 0, the resulting initial noise image is a random combination of black and white. Although the initial noise image is random, the basic terrain model generated by the noise fluctuates significantly from 0 to 1. Therefore, the basic terrain model generated by the noise does not appear as a continuous image to the human eye. Thus, temporal intervention is applied to the noise, causing the basic terrain model generated by the noise to fluctuate between 0 and 1. Specifically, 0-1 can be a specific value such as 0.1, 0.2, etc., so that the generated terrain model gives the visual experience of continuous fluctuation. In practical applications, the interference factors generated by time-dependent noise vary for different scene information. Therefore, in this application, it is necessary to determine the value of the disturbance factor of each vertex based on the scene information corresponding to each vertex of the basic terrain model. Specifically, since the vehicle is in operation, this application needs to determine the value of the disturbance factor at different times based on the scene information of each vertex of the basic terrain model.

[0066] Furthermore, based on the coordinates of the vectors corresponding to the scene information of each vertex and the perturbation factor, the initial coordinate data of each vertex of the basic terrain model are adjusted to obtain the target coordinate data of each target vertex corresponding to the scene information.

[0067] Specifically, in this embodiment, the coordinates of the vectors corresponding to scene information for each vertex of the basic terrain model are determined at different times, as are the perturbation factors corresponding to the scene information for each vertex of the basic terrain model at different times. Based on the coordinates of the vectors corresponding to scene information for each vertex of the basic terrain model at different times and the perturbation factors corresponding to the scene information for each vertex at different times, the initial coordinates of each vertex of the basic terrain model are adjusted, ultimately obtaining the target coordinate data of each target vertex corresponding to the current scene information.

[0068] Furthermore, assuming the initial coordinates of a vertex in the basic terrain model are (x, y, z), the coordinates of the vector α corresponding to that vertex are (α1, α2, α3), and the perturbation factor γ corresponding to that vertex, the initial coordinates (x, y, z) of the vertex in the basic terrain model are adjusted based on the vector α and the perturbation factor γ to obtain the adjusted target coordinates (x', y', z'). The calculation formula is as follows:

[0069]

[0070] Where (x,y,z) are the initial coordinates, (α1,α2,α3) are the vector coordinates, γ is the perturbation factor, and (x',y',z') are the target coordinates.

[0071] If a vertex in the basic terrain model has coordinates (0, 1, 0), and the vector coordinates of a vertex in the scene information corresponding to the basic terrain model are (2, 1, 1), and the interference factor γ of that vertex in the scene information corresponding to the basic terrain model is 0.5, the coordinates of the transformed target vertex corresponding to that vertex in the basic terrain model can be calculated as (0, 1, 0) + (2, 1, 1) * 0.5 = (1, 1.5, 0.5). In practical applications, for each vertex in the basic terrain model, the target coordinate data of the target vertex corresponding to each vertex in the scene information at different times can be obtained through the above calculation formula. In practical applications, based on the obtained target coordinate data of the target vertices corresponding to each vertex at different times, the drawing module of the vehicle host draws the terrain model corresponding to the scene information.

[0072] For example, in the case where the terrain represented by the current scene information is mountainous terrain, the terrain changes in elevation over time as the vehicle moves. Therefore, the coordinates of the vector are set to (0,1,0), and the noise is affected by the time factor to obtain the disturbance factor γ of each vertex at different times. Assuming that the coordinates of each vertex of the basic terrain model are represented by (x,y,z), the target coordinate data corresponding to each vertex will become (x,y+γ,z) as time changes. The mountainous terrain model with undulating terrain is drawn by the drawing module of the vehicle host.

[0073] Alternatively, if the terrain represented by the current scene information is urban terrain, since urban terrain is flat, it is necessary to set the y-axis of the target coordinate data of each target vertex to 0, such as... Figure 2 The flowchart for outputting the target coordinate data is shown below. Figure 2 By inputting the time factor into the noise algorithm, the perturbation factor is obtained by influencing the noise over time. The perturbation factor is then input into a variable coordinate axis, and the variable variable is multiplied by the perturbation factor to obtain the variable value. The vertex coordinates are added to the variable value to obtain the calculated vertex coordinates. Finally, based on the calculated vertex coordinates, a new model vertex and the corresponding terrain model are output. Assuming the coordinates of each vertex in the basic terrain model are represented by (x, y, z), and the vector coordinates are set to (0, y, 0), by intervening in the noise over time, the perturbation factor γ corresponding to the current scene information is determined to be -1. The calculated target coordinate data for each vertex will then become (x, 0, z), and a flat urban terrain model will be drawn using the onboard host's drawing module. It should be noted that the vector coordinates and perturbation factors corresponding to each vertex in the above two examples change continuously over time. For ease of understanding, the examples in this application do not list the vector coordinates and perturbation factors corresponding to each vertex at different times.

[0074] In a preferred embodiment of this application, the road condition information of the current driving segment in the scene information is obtained, and the road condition information is identified;

[0075] If potholes or obstacles are detected in the road condition information, obtain the size information of the potholes or obstacles;

[0076] Based on the size information of the pothole or the obstacle, determine the vector coordinates and disturbance factors of the pothole or the obstacle in the basic terrain model corresponding to each vertex of the road condition information.

[0077] Based on the coordinates of the vectors corresponding to each vertex of the road condition information in the basic terrain model, and the disturbance factor, the target coordinate data of each target vertex corresponding to the initial coordinate data of each vertex of the road condition information for the pothole or the obstacle are determined.

[0078] Based on the coordinates of the vectors corresponding to each vertex of the road condition information in the basic terrain model, and the disturbance factor, the target coordinate data of each target vertex corresponding to the initial coordinate data of each vertex of the road condition information for the pothole or the obstacle are determined.

[0079] Specifically, when potholes or obstacles are detected in the current driving segment corresponding to the current scene information, the vehicle's onboard radar or sensors acquire the size information of the potholes or obstacles and send this size information to the vehicle's main unit. This determines the vector coordinates and perturbation factors of the potholes or obstacles in the basic terrain model corresponding to each vertex of the current road condition information. This allows for the determination of the target coordinate data of each target vertex corresponding to the initial coordinate data of the potholes or obstacles. It is important to note that when potholes or obstacles are detected in the current driving segment corresponding to the current scene information, the calibration rules for the vector coordinates and perturbation factors of the potholes or obstacles in the basic terrain model corresponding to each vertex of the current road condition information will change.

[0080] In another preferred embodiment of this application, the target coordinate data corresponding to the initial coordinate data of each vertex of the basic terrain model are used to draw the corresponding terrain model through the drawing module of the vehicle host. Then, the texture corresponding to the current scene information is obtained and the texture corresponding to the scene information is assigned to the terrain model to generate the target terrain model corresponding to the scene information.

[0081] This application provides a method for generating a terrain model. The method includes: acquiring initial coordinate data of each vertex of a basic terrain model and scene information of the current driving environment; determining, based on the scene information, the coordinates of the vector corresponding to each vertex of the basic terrain model and a perturbation factor of the scene information; determining, based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, the target coordinate data of each target vertex corresponding to the scene information; and generating a terrain model corresponding to the scene information based on the target coordinate data of each target vertex. In this application embodiment, based on a basic terrain model, vectors and perturbation factors are used to interact with each vertex in the model, thereby achieving the effect of deriving multiple terrains from a single basic terrain model. This reduces resource and performance consumption while ensuring the representation of scene effects, thus improving the user experience.

[0082] Based on the same inventive concept, a second aspect of the embodiments of this application provides a terrain model generation apparatus, such as... Figure 3 As shown, the device includes:

[0083] The acquisition module 201 is used to acquire the initial coordinate data of each vertex of the basic terrain model and the scene information of the current driving environment;

[0084] The first determining module 202 is used to determine the coordinates and perturbation factors of the vector corresponding to the scene information for each vertex of the basic terrain model based on the scene information.

[0085] The second determining module 203 is used to determine the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor.

[0086] The generation module 204 is used to generate a terrain model corresponding to the scene information based on the target coordinate data of each target vertex.

[0087] Optionally, the second determining module 203, which determines the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, includes:

[0088] The adjustment submodule is used to adjust the initial coordinate data of each vertex of the basic terrain model according to the coordinates of the vector corresponding to the scene information and the perturbation factor of each vertex, so as to obtain the target coordinate data of each target vertex corresponding to the scene information.

[0089] Optionally, the first determining module 202, which determines the coordinates and perturbation factors of the vector corresponding to each vertex of the basic terrain model based on the scene information, includes:

[0090] The first determining submodule is used to determine the coordinate values ​​of the vectors corresponding to the scene information of each vertex of the basic terrain model at different times, based on the changes in terrain of the current driving environment represented by the scene information at different times.

[0091] The second determining submodule is used to perform time intervention on the initial noise of the basic terrain model according to the scene information, and determine the value of the disturbance factor of the scene information corresponding to each vertex of the basic terrain model at different times. The basic terrain model is generated by noise.

[0092] Optionally, the adjustment submodule, which adjusts the initial coordinate data of each vertex of the basic terrain model based on the coordinates of the vectors corresponding to the scene information and the perturbation factor of each vertex, to obtain the target coordinate data of each target vertex corresponding to the scene information, includes:

[0093] The first determining subunit is used to determine the target coordinate data of each target vertex corresponding to the scene information at different times based on the values ​​of the coordinates of the vectors corresponding to the scene information of each vertex at different times and the values ​​of the disturbance factors corresponding to the scene information of each vertex at different times.

[0094] Optionally, the first determining submodule, which determines the coordinates and perturbation factors of the vector corresponding to each vertex of the basic terrain model based on the scene information, includes:

[0095] The first acquisition subunit is used to acquire the road condition information of the current driving segment in the scene information and to identify the road condition information.

[0096] The second acquisition subunit is used to acquire the size information of the pothole or the obstacle if the road condition information is identified as having a pothole or obstacle.

[0097] The second determining subunit is used to determine, based on the size information of the pit or the obstacle, the vector coordinates and disturbance factors of the pit or the obstacle in the basic terrain model corresponding to each vertex of the road condition information.

[0098] Optionally, the second determining module 203, which determines the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, includes:

[0099] The third determining submodule is used to determine the target coordinate data of each target vertex corresponding to the initial coordinate data of the pit or obstacle corresponding to each vertex of the road condition information in the basic terrain model, based on the vector coordinates and disturbance factors of the pit or obstacle.

[0100] Optionally, it also includes:

[0101] The first acquisition submodule is used to acquire a texture corresponding to the scene information based on the scene information of the current driving environment;

[0102] The generation submodule is used to assign the texture corresponding to the scene information to the terrain model and generate the target terrain model corresponding to the scene information.

[0103] Based on the same inventive concept, a third aspect of the present application provides a vehicle, the vehicle including a terrain model generation device as described in the second aspect of the present application.

[0104] Based on the same inventive concept, a fourth aspect of the embodiments of this application provides an electronic device 100, such as... Figure 4 As shown, it includes a memory 110, a processor 120, and a computer program stored on the memory 110. The processor 120 executes the computer program to implement the terrain model generation method as described in the first aspect of the embodiments of this application.

[0105] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0106] Those skilled in the art will understand that embodiments of this application can be provided as methods, apparatus, or computer program products. Therefore, embodiments of this application can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of this application can take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] This application describes embodiments with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0110] Although preferred embodiments of the present application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present application.

[0111] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0112] The above provides a detailed description of the method, apparatus, vehicle, and electronic equipment for generating a terrain model. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for generating a terrain model, characterized in that, The method includes: The initial coordinate data of each vertex of the basic terrain model and the scene information of the current driving environment are obtained. The scene information is obtained by recognizing the image of the current driving environment, which is obtained by a camera installed on the vehicle or by the vehicle's dashcam. The scene information includes at least mountains, snow, and cities. Based on the scene information, determine the coordinates and perturbation factors of each vertex of the basic terrain model corresponding to the vector of the scene information; Based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor, determine the target coordinate data of each target vertex corresponding to the scene information; Based on the target coordinate data of each target vertex, a terrain model corresponding to the scene information is generated; The step of determining the coordinates and perturbation factors of the vector corresponding to each vertex of the basic terrain model based on the scene information includes: Based on the changes in terrain of the current driving environment at different times as represented by the scene information, determine the coordinate values ​​of each vertex of the basic terrain model corresponding to the vector of the scene information at different times; Based on the scene information, the initial noise of the basic terrain model is subjected to temporal intervention to determine the value of the disturbance factor of the scene information corresponding to each vertex of the basic terrain model at different times. The basic terrain model is generated through noise.

2. The method for generating a terrain model according to claim 1, characterized in that, The step of determining the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor includes: Based on the coordinates of the vectors corresponding to the scene information for each vertex and the perturbation factor, the initial coordinate data of each vertex of the basic terrain model are adjusted to obtain the target coordinate data of each target vertex corresponding to the scene information.

3. The method for generating a terrain model according to claim 1, characterized in that, The step of adjusting the initial coordinate data of each vertex of the basic terrain model based on the coordinates of the vectors corresponding to the scene information and the perturbation factor of each vertex to obtain the target coordinate data of each target vertex corresponding to the scene information includes: Based on the coordinates of the vectors corresponding to the scene information of each vertex at different times and the values ​​of the disturbance factors corresponding to the scene information of each vertex at different times, the target coordinate data of each target vertex corresponding to the scene information at different times are determined.

4. The method for generating a terrain model according to claim 1, characterized in that, The step of determining the coordinates and perturbation factors of the vector corresponding to each vertex of the basic terrain model based on the scene information includes: Obtain the road condition information of the current driving segment in the scene information, and identify the road condition information; If potholes or obstacles are detected in the road condition information, obtain the size information of the potholes or obstacles; Based on the size information of the pothole or the obstacle, determine the vector coordinates and disturbance factors of the pothole or the obstacle in the basic terrain model corresponding to each vertex of the road condition information.

5. The method for generating a terrain model according to claim 4, characterized in that, The step of determining the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor includes: Based on the coordinates of the vectors corresponding to each vertex of the road condition information in the basic terrain model, and the disturbance factor, the target coordinate data of each target vertex corresponding to the initial coordinate data of each vertex of the road condition information for the pothole or the obstacle are determined.

6. The method for generating a terrain model according to any one of claims 1-5, characterized in that, Also includes: Based on the scene information of the current driving environment, obtain the texture corresponding to the scene information; The texture corresponding to the scene information is assigned to the terrain model to generate the target terrain model corresponding to the scene information.

7. A terrain model generation device, characterized in that, The device includes: The acquisition module is used to acquire the initial coordinate data of each vertex of the basic terrain model and the scene information of the current driving environment; the scene information is obtained by recognizing the image of the current driving environment, which is obtained by a camera installed on the vehicle or by the vehicle's dashcam, and the scene information includes at least mountains, snow-capped mountains, and cities. The first determining module is used to determine the coordinates and perturbation factors of the vector corresponding to the scene information for each vertex of the basic terrain model, based on the scene information. The second determining module is used to determine the target coordinate data of each target vertex corresponding to the scene information based on the initial coordinate data of each vertex, the coordinates of the vector, and the perturbation factor. The generation module is used to generate a terrain model corresponding to the scene information based on the target coordinate data of each target vertex; The first determining module includes: The first determining submodule is used to determine the coordinate values ​​of the vectors corresponding to the scene information of each vertex of the basic terrain model at different times, based on the changes in terrain of the current driving environment represented by the scene information at different times. The second determining submodule is used to perform time intervention on the initial noise of the basic terrain model according to the scene information, and determine the value of the disturbance factor of the scene information corresponding to each vertex of the basic terrain model at different times. The basic terrain model is generated by noise.

8. A vehicle, characterized in that, The vehicle includes the terrain model generation device as described in claim 7.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory, characterized in that, The processor executes the computer program to implement the method for generating a terrain model as described in any one of claims 1 to 6.

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