Three-dimensional scene model reconstruction method and system, electronic device and readable storage medium

Abstract

The application relates to the technical field of three-dimensional model, and discloses a three-dimensional scene model reconstruction method, a three-dimensional scene model reconstruction system, an electronic device and a readable storage medium, the method projects three-dimensional environment elements in an original scene model on a preset plane model to obtain plane projection elements, sets element priorities corresponding to the plane projection elements, determines a to-be-moved element according to the element priorities if there are overlapping element pairs in the plane projection elements, separates two plane projection elements in the overlapping element pairs by moving the to-be-moved element, until there are no overlapping areas between all the plane projection elements, and then converts the plane projection elements into three-dimensional models to obtain a reconstructed scene model, so that element overlapping in the three-dimensional scene model is avoided, the display accuracy of environment elements in the scene model is improved, and accurate reference and guidance are provided for users.

Description

Technical Field

[0001] This invention relates to the field of 3D model technology, and in particular to a 3D scene model reconstruction method, system, electronic device, and readable storage medium. Background Technology

[0002] Currently, displaying the external scene as a 3D model on the in-vehicle display (such as the center console, instrument panel, etc.) has become a basic function configuration for many intelligent driving vehicles. For example, the types, sizes, orientations, movement trends, and threat levels to the vehicle of road boundaries and environmental objects are displayed to provide users with references to the external environment. Unless there are serious collisions or cargo stacking scenarios, there will be no overlap or embedding between vehicle targets, pedestrian targets, guardrails, and other road boundaries.

[0003] However, the external scene model can cause environmental objects to overlap in the following three situations:

[0004] First, the performance limitations of the sensing system itself, the limitations of detection conditions (such as poor lighting conditions, rain, snow), and obstruction, etc., result in certain deviations in the detection data such as road boundaries, target orientation, size, and type provided by the sensing system.

[0005] Secondly, in the display strategies of some manufacturers, in order to stabilize the display effect of target type and size, a fixed proportion of 3D model is selected according to the target type. The relative size and size ratio of the selected 3D model in the display world do not match the actual scene.

[0006] Third, in 3D visual effects, due to rendering performance or rendering strategies, the effects of light and shadow are not handled well. Under certain viewing angles and scenes, users will perceive that the objects are overlapping.

[0007] The aforementioned reasons cause overlapping environmental objects in the scene model, resulting in low accuracy in displaying environmental elements in the external scene model and failing to provide users with a reference for the external environment. Summary of the Invention

[0008] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0009] In view of the shortcomings of the prior art described above, the present invention discloses a three-dimensional scene model reconstruction method, system, electronic device and readable storage medium to improve the accuracy of displaying environmental elements in the scene model.

[0010] This invention provides a method for reconstructing a three-dimensional scene model, comprising: acquiring an original scene model, the original scene model including multiple three-dimensional environment elements; projecting each of the three-dimensional environment elements onto a preset planar model to obtain planar projection elements corresponding to each of the three-dimensional environment elements; setting element priorities corresponding to each of the planar projection elements, and taking two planar projection elements with overlapping areas as an overlapping element pair; if there is an overlapping element pair among the planar projection elements, determining an element to be moved from the two planar projection elements of the overlapping element pair according to the element priority, and separating the two planar projection elements in the overlapping element pair by moving the element to be moved, until there is no overlapping area between all planar projection elements; converting the planar projection elements into a three-dimensional model according to the correspondence between the three-dimensional environment elements and the planar projection elements to obtain the reconstructed scene model corresponding to the original scene model.

[0011] Optionally, obtaining the original scene model includes: collecting surrounding environmental information within a preset range through the target vehicle, the environmental information including obstacle objects and vehicle driving boundaries; establishing a three-dimensional model based on the target vehicle and the surrounding environmental information to obtain the original scene model, wherein the main model elements corresponding to the target vehicle, the obstacle model elements corresponding to the obstacle objects, and the boundary model elements corresponding to the vehicle driving boundaries are used as the three-dimensional environmental elements of the original scene model.

[0012] Optionally, after obtaining the original scene model, before projecting each of the three-dimensional environment elements onto a preset planar model to obtain the planar projection elements corresponding to each of the three-dimensional environment elements, the method further includes: pre-setting virtual model elements, wherein the virtual model elements include virtual obstacle elements and / or virtual boundary elements; if the virtual model elements include virtual obstacle elements, then the virtual obstacle elements are added as new obstacle model elements to the original scene model; if the virtual model elements include virtual boundary elements, then the virtual boundary elements are added as new boundary model elements to the original scene model.

[0013] Optionally, projecting each of the three-dimensional environment elements onto a preset planar model to obtain a planar projection element corresponding to each of the three-dimensional environment elements includes: presetting one or more projection angles; projecting the three-dimensional environment elements onto the preset planar model according to each projection angle to obtain a planar projection element corresponding to each projection angle, wherein the planar projection element includes a main planar element corresponding to the main model element, an obstacle planar element corresponding to the obstacle model element, and a boundary planar element corresponding to the boundary model element.

[0014] Optionally, after projecting each of the three-dimensional environment elements onto a preset planar model to obtain the planar projection elements corresponding to each of the three-dimensional environment elements, and before taking two planar projection elements with overlapping areas as an overlapping element pair, the method further includes: taking any boundary planar element as a reference boundary and taking any obstacle planar element as an obstacle to be determined; if the center point of the main planar element and the center point of the obstacle to be determined are located on both sides of the reference boundary, then the obstacle to be determined is deleted from the planar projection elements.

[0015] Optionally, setting the element priority corresponding to each of the planar projection elements includes at least one of the following: pre-setting the element priority corresponding to each of the three-dimensional environment elements, wherein the element priority corresponding to the main model element is higher than the element priority corresponding to the boundary model element, and the element priority corresponding to the boundary model element is higher than the element priority corresponding to the obstacle model element; calculating the element priority corresponding to each of the planar projection elements based on the projection area of ​​the planar projection element, the relative distance between the planar projection element and the main planar element, and the preset priority index of the planar projection element.

[0016] Optionally, the element priority corresponding to the planar projection element can be determined by the following formula: Among them, E i S represents the element priority corresponding to the i-th planar projection element. i Let R be the projected area of ​​the i-th planar projection element. i Let α be the relative distance between the i-th planar projection element and the main planar element. i ω is the preset priority index for the i-th planar projection element. S ω R These are the preset weighting coefficients.

[0017] Optionally, the relative distance between the planar projection element and the main planar element includes any one of the following: the distance from the center point of the planar projection element to the center point of the main planar element; the shortest distance between the planar projection element and the main planar element; the shortest distance from the center point of the planar projection element to any side of the main planar element.

[0018] Optionally, determining a moveable element from the two planar projection elements of the overlapping element pair according to the element priority includes: comparing the element priorities of the two planar projection elements in the overlapping element pair, determining the two planar projection elements of the overlapping element pair as a first element and a second element based on the comparison result, wherein the element priority of the first element is higher than the element priority of the second element; and determining the second element as the moveable element.

[0019] Optionally, separating the two planar projection elements in the overlapping element pair by moving the element to be moved includes: moving the element to be moved in a preset moving direction according to a preset moving step size; if the movement of the element to be moved is detected, determining the current overlap state between the two planar projection elements in the overlapping element pair, wherein the current overlap state includes still overlapping or no longer overlapping; if the current overlap state includes still overlapping, moving the element to be moved in the preset moving direction again according to the preset moving step size.

[0020] Optionally, the preset movement direction can be determined by any of the following methods: establishing a Cartesian coordinate system with the center point of the second element as the origin, and determining the preset movement direction according to the horizontal axis of the Cartesian coordinate system, wherein the preset movement direction includes the positive direction of the horizontal axis of the Cartesian coordinate system or the negative direction of the horizontal axis of the Cartesian coordinate system; if both planar projection elements of the overlapping element pair are obstacle plane elements, then the direction from the first center point to the second center point is determined as the preset movement direction, wherein the first center point is the center point of the first element, and the second center point is the center point of the second element; if the two planar projection elements of the overlapping element pair are an obstacle plane element and a boundary plane element, respectively, then establishing a perpendicular line to the boundary plane element through the center point of the obstacle plane element, and determining the preset movement direction according to the perpendicular line, wherein the preset movement direction is along the perpendicular line and points from the first element to the second element.

[0021] Optionally, after projecting each of the three-dimensional environment elements onto a preset planar model to obtain the planar projection elements corresponding to each of the three-dimensional environment elements, and before taking two planar projection elements with overlapping areas as an overlapping element pair, the method further includes: pre-setting the interval adjustment parameters corresponding to each of the three-dimensional environment elements; and expanding or shrinking the planar projection elements based on the interval adjustment parameters corresponding to the planar projection elements, wherein the interval reference point includes the center point of the planar projection elements.

[0022] Optionally, after determining a moveable element from the two planar projection elements of the overlapping element pair according to the element priority, and before separating the two planar projection elements in the overlapping element pair by moving the moveable element, the method further includes: measuring the distance between the center points of the two planar projection elements in the overlapping element pair to obtain an overlap reference distance, and determining a minimum feature size based on the two planar projection elements of the overlapping element pair; calculating an overlap distance ratio based on the overlap reference distance and the minimum feature size; and deleting the moveable element from the planar projection elements if the overlap distance ratio is greater than or equal to a preset distance ratio threshold.

[0023] Optionally, after determining a moveable element from the two planar projection elements of the overlapping element pair according to the element priority, and before separating the two planar projection elements in the overlapping element pair by moving the moveable element, the method further includes: obtaining the area of ​​the overlapping region corresponding to the overlapping element pair; comparing the projected areas of the two planar projection elements in the overlapping element pair, and selecting one projected area as a reference area based on the comparison result; calculating the overlapping area ratio based on the reference area and the overlapping region area; and deleting the moveable element from the planar projection elements if the overlapping area ratio is greater than or equal to a preset area ratio threshold.

[0024] This invention provides a three-dimensional scene model reconstruction system, comprising: an acquisition module for acquiring an original scene model, the original scene model including multiple three-dimensional environment elements; a projection module for projecting each of the three-dimensional environment elements onto a preset planar model to obtain planar projection elements corresponding to each of the three-dimensional environment elements; a setting module for setting the element priority corresponding to each of the planar projection elements, and separating two planar projection elements with overlapping areas as an overlapping element pair; and a conversion module for converting the planar projection elements into a three-dimensional model according to the correspondence between the three-dimensional environment elements and the planar projection elements to obtain a reconstructed scene model corresponding to the original scene model.

[0025] The present invention provides an electronic device, comprising: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to cause the electronic device to perform the above-described method.

[0026] The present invention provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-described method.

[0027] The beneficial effects of this invention are:

[0028] By projecting the 3D environment elements from the original scene model onto a preset planar model, planar projection elements are obtained. Element priorities are set for each planar projection element. If overlapping element pairs exist, the element to be moved is determined based on the element priority. The two planar projection elements in the overlapping element pair are separated by moving the element to be moved until there are no overlapping areas between all planar projection elements. Then, the planar projection elements are converted back into a 3D model to obtain the reconstructed scene model. In this way, the original 3D scene model is projected onto a 2D preset planar model, and the element to be moved is determined based on element priority, thereby separating overlapping planar projection elements and converting them back into a 3D model. This avoids element overlap in the 3D scene model, improves the accuracy of environmental element display in the scene model, and provides users with accurate reference and guidance. Attached Figure Description

[0029] Figure 1 This is a flowchart illustrating a three-dimensional scene model reconstruction method in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the structure of an original scene model in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram of the structure of a preset planar model after projection in an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram of a method for adjusting the projection boundary of a planar projection element in an embodiment of the present invention;

[0033] Figure 5 This is a schematic diagram of a method for determining the location of an obstacle to be determined in an embodiment of the present invention;

[0034] Figure 6 This is a schematic diagram of a method for calculating the element priority corresponding to a planar projection element in an embodiment of the present invention;

[0035] Figure 7 This is a schematic diagram of the area of ​​the overlapping region between two planar projected elements in an overlapping element pair in an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of an embodiment of the present invention showing the movement of an element to be moved according to a preset moving direction;

[0037] Figure 9 This is another schematic diagram of moving the element to be moved according to a preset moving direction in an embodiment of the present invention;

[0038] Figure 10 This is another schematic diagram of moving the element to be moved according to a preset moving direction in an embodiment of the present invention;

[0039] Figure 11 This is another schematic diagram of moving the element to be moved according to a preset moving direction in an embodiment of the present invention;

[0040] Figure 12 This is a schematic diagram of the structure of a three-dimensional scene model reconstruction system in an embodiment of the present invention;

[0041] Figure 13 This is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. Detailed Implementation

[0042] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, unless otherwise specified, the following embodiments and sub-samples in the embodiments can be combined with each other.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0044] In the following description, numerous details are explored to provide a more thorough explanation of embodiments of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring embodiments of the invention.

[0045] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this disclosure described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0046] Unless otherwise stated, the term "multiple" means two or more.

[0047] In this embodiment of the disclosure, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0048] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0049] Combination Figure 1 As shown, this disclosure provides a method for reconstructing a three-dimensional scene model, including:

[0050] Step S101: Obtain the original scene model;

[0051] The original scene model includes multiple three-dimensional environment elements;

[0052] Step S102: Project each three-dimensional environment element onto a preset planar model to obtain the planar projection element corresponding to each three-dimensional environment element;

[0053] Step S103: Set the element priority corresponding to each planar projection element;

[0054] Among them, two planar projection elements with overlapping regions are regarded as an overlapping element pair;

[0055] Step S104: If there are overlapping element pairs in the planar projection elements, determine an element to be moved from the two planar projection elements of the overlapping element pair according to the element priority, and separate the two planar projection elements in the overlapping element pair by moving the element to be moved, until there is no overlapping area between all planar projection elements.

[0056] Step S105: Based on the correspondence between the three-dimensional environment elements and the planar projection elements, the planar projection elements are converted into a three-dimensional model to obtain the reconstructed scene model corresponding to the original scene model.

[0057] The 3D scene model reconstruction method provided in this disclosure projects 3D environment elements from the original scene model onto a preset planar model to obtain planar projection elements. An element priority is set for each planar projection element. If overlapping element pairs exist among the planar projection elements, the element to be moved is determined based on the element priority. The two planar projection elements in the overlapping element pair are separated by moving the element to be moved until there are no overlapping areas between all planar projection elements. Then, the planar projection elements are converted back into a 3D model to obtain the reconstructed scene model. In this way, the original 3D scene model is projected onto a 2D preset planar model, and the element to be moved is determined based on the element priority, thereby separating overlapping planar projection elements and converting them back into a 3D model. This avoids element overlap in the 3D scene model, improves the accuracy of displaying environment elements in the scene model, and provides accurate reference and guidance for users.

[0058] In some embodiments, if any vertex of one planar projection element is located within another planar projection element, it is determined that there is an overlapping region between the two planar projection elements.

[0059] Optionally, obtaining the original scene model includes: collecting surrounding environmental information within a preset range through the target vehicle, the environmental information including obstacle objects and vehicle driving boundaries; establishing a three-dimensional model based on the target vehicle and surrounding environmental information to obtain the original scene model, wherein the main model elements corresponding to the target vehicle, the obstacle model elements corresponding to the obstacle objects, and the boundary model elements corresponding to the vehicle driving boundaries are used as the three-dimensional environmental elements of the original scene model.

[0060] In some embodiments, the scene model takes a certain object to be processed or a certain virtual space shape as the main body, and uses it as the reference for scene reconstruction. For example, the target vehicle is taken as the main body. The orientation of the main body does not change, and all other objects to be processed are based on it. The objects to be processed include obstacle objects (such as vehicles, pedestrians, animals, obstacles, etc.) and vehicle driving boundaries (such as guardrails, medians, solid road lines, etc.). The target vehicle, obstacle objects, and vehicle driving boundaries are enveloped, contained, fitted, or replaced by a three-dimensional solid model described by parameters and equations, thereby establishing a three-dimensional model based on the target vehicle and surrounding environment information to obtain the original scene model. The three-dimensional solid model includes cuboids, spheres, ellipsoids, cylinders, etc.

[0061] In some embodiments, the original scene model is as follows: Figure 2 As shown, it includes main model element 201, obstacle model element 202 and boundary model element 203.

[0062] Optionally, after obtaining the original scene model, before projecting each 3D environment element onto a preset planar model to obtain the planar projection element corresponding to each 3D environment element, the method further includes: pre-setting virtual model elements, wherein the virtual model elements include virtual obstacle elements and / or virtual boundary elements; if the virtual model elements include virtual obstacle elements, then the virtual obstacle elements are added to the original scene model as new obstacle model elements; if the virtual model elements include virtual boundary elements, then the virtual boundary elements are added to the original scene model as new boundary model elements.

[0063] In one embodiment, the original scene model is extended using virtual model elements to add orientation constraints to the original scene model.

[0064] Optionally, each 3D environment element is projected onto a preset planar model to obtain a planar projection element corresponding to each 3D environment element, including: presetting one or more projection angles; projecting the 3D environment element onto the preset planar model according to each projection angle to obtain a planar projection element corresponding to each projection angle, wherein the planar projection element includes the main plane element corresponding to the main model element, the obstacle plane element corresponding to the obstacle model element, and the boundary plane element corresponding to the boundary model element.

[0065] In some embodiments, the regular planar graphics that project each three-dimensional environment element and represent it with equations are enveloped, contained, fitted, or replaced in a preset planar model to obtain the planar projection elements corresponding to each three-dimensional environment element. The shapes of the planar projection elements include rectangles, circles, ellipses, polygons, line segments, etc.

[0066] In some embodiments, the projected preset planar model is as follows: Figure 3 As shown, it includes a main plane element 301, an obstacle plane element 302, and a boundary plane element 303. The main model element and the obstacle model element are uniformly replaced by cuboids, and their projections are all polygons. The boundary model elements with flat and long shapes such as guardrails are replaced by parametric curves and then projected to obtain the boundary plane elements.

[0067] By simplifying the 3D environment elements before projection, the calculation method is unified, the amount of computation is reduced, and the processing efficiency of the algorithm is improved.

[0068] In some embodiments, three-dimensional environment elements are projected onto a preset planar model at different projection angles to obtain planar projection elements corresponding to different projection angles. When separating overlapping elements, the same planar projection elements at each projection angle are moved uniformly until there is no overlapping area between all planar projection elements at all projection angles.

[0069] In some embodiments, the projection angle includes the front view direction, the top view direction, and the left view direction, ensuring that the three-dimensional environment elements do not overlap at different angles.

[0070] In this way, the environmental elements are projected from different angles and then further separated to ensure that the main model elements, obstacle model elements, and boundary model elements do not overlap in planar observation at each projection angle. This improves the accuracy of the display of environmental elements in the scene model and provides users with accurate reference and guidance.

[0071] Optionally, after projecting each 3D environment element onto a preset planar model to obtain the corresponding planar projection element for each 3D environment element, and before taking two planar projection elements with overlapping areas as an overlapping element pair, the method further includes: pre-setting the interval adjustment parameter corresponding to each 3D environment element; and expanding or shrinking the planar projection element based on the interval reference point according to the interval adjustment parameter corresponding to the planar projection element, wherein the interval reference point includes the center point of the planar projection element.

[0072] In some embodiments, the interval adjustment parameter is set separately for each planar projection element.

[0073] In some embodiments, the interval adjustment parameter can be the distance to be increased or decreased, or the ratio to be increased or decreased.

[0074] In some embodiments, combined with Figure 4 As shown, if the interval adjustment parameter is D, the projection boundary of the planar projection element is expanded outward to obtain the adjustment boundary, and the projection boundary of the planar projection element is updated according to the adjustment boundary; if the interval adjustment parameter is 0, the projection boundary of the planar projection element and the adjustment boundary coincide, and the planar projection element is not adjusted further; if the interval adjustment parameter is less than 0, the projection boundary of the planar projection element is shrunk inward to obtain the adjustment boundary, and the projection boundary of the planar projection element is updated according to the adjustment boundary.

[0075] In some embodiments, based on the scaling of the planar projection elements according to the interval reference points, a portion of the boundary is further extended, for example, to accommodate the display of forward lighting effects on the main body.

[0076] Optionally, after projecting each three-dimensional environment element onto a preset planar model to obtain the corresponding planar projection elements for each three-dimensional environment element, and before taking two planar projection elements with overlapping areas as an overlapping element pair, the method further includes: taking any boundary planar element as a reference boundary and taking any obstacle planar element as an obstacle to be determined; if the center point of the main planar element and the center point of the obstacle to be determined are located on both sides of the reference boundary, then the obstacle to be determined is deleted from the planar projection elements.

[0077] In some embodiments, a hysteresis threshold is set to perform hysteresis judgment processing on the shortest distance line segment to avoid the judgment and rejection results jumping back and forth.

[0078] In some embodiments, such as Figure 5 As shown, a Cartesian coordinate system is established with the center point of the obstacle to be determined as the origin. The horizontal coordinate of this Cartesian coordinate system intersects with the reference boundary. The orientation relationship between the center point of the obstacle to be determined and the intersection point determines whether the obstacle to be determined is located to the left or right of the reference boundary.

[0079] In some embodiments, a shortest distance line segment between the center point of the obstacle to be determined and the reference boundary is established, thereby determining that the obstacle to be determined is located to the left of the reference boundary based on the two endpoints of the shortest distance line segment. Similarly, the main plane element is also located to the left of the reference boundary, so the obstacle to be determined is deleted.

[0080] In some embodiments, the center point of the main plane element is connected to the center point of the obstacle to be determined. If the resulting line segment intersects with the reference boundary, it is determined that the main plane element and the obstacle to be determined are located on both sides of the reference boundary.

[0081] Optionally, the element priority corresponding to each planar projection element is set, including at least one of the following: the element priority corresponding to each three-dimensional environment element is preset, wherein the element priority corresponding to the main model element is higher than the element priority corresponding to the boundary model element, and the element priority corresponding to the boundary model element is higher than the element priority corresponding to the obstacle model element; the element priority corresponding to each planar projection element is calculated based on the projection area of ​​the planar projection element, the relative distance between the planar projection element and the main planar element, and the preset priority index of the planar projection element.

[0082] In some embodiments, the element priority of the main model element is the highest, followed by the element priority of the virtual boundary element, the element priority of the boundary model element, the element priority of the virtual obstacle element, and the element priority of the obstacle model element.

[0083] Optionally, the element priority corresponding to the planar projection element can be determined by the following formula:

[0084]

[0085] Among them, E i S represents the element priority corresponding to the i-th planar projection element. i Let R be the projected area of ​​the i-th planar projection element. i Let α be the relative distance between the i-th planar projection element and the main planar element. i ω is the preset priority index for the i-th planar projection element. S ω R These are the preset weighting coefficients, where ω S +ω R =1.

[0086] Optionally, such as Figure 6 As shown, the element priority corresponding to the planar projection element is determined by the following formula:

[0087]

[0088] Among them, E iS represents the element priority corresponding to the i-th planar projection element. i Let R be the projected area of ​​the i-th planar projection element. i ω represents the relative distance between the i-th planar projection element and the main planar element. S ω R These are the preset weighting coefficients, where ω S +ω R =1.

[0089] Optionally, the relative distance between the planar projection element and the main planar element includes any of the following: the distance from the center point of the planar projection element to the center point of the main planar element; or the shortest distance between the planar projection element and the main planar element, which is the shortest distance from the center point of the planar projection element to any side of the main planar element.

[0090] In some embodiments, the preset priority index is determined based on whether there is a collision risk to the subject, whether there is a potential collision risk to the subject, whether it is the control target for the subject's speed, whether it is the control target for the subject's direction of movement, whether it is a special target (such as a pedestrian, non-motorized vehicle or other vulnerable traffic participants), and identification confidence level.

[0091] In some embodiments, if there are planar projection elements with the same element priority, the element priority of the planar projection element is determined by methods such as historical query or random allocation.

[0092] In some embodiments, if the element priority of a planar projection element is lower than a preset priority threshold, the planar projection element is deleted.

[0093] Optionally, determining an element to be moved from the two planar projection elements of the overlapping element pair according to element priority includes comparing the element priorities of the two planar projection elements in the overlapping element pair, determining the two planar projection elements of the overlapping element pair as a first element and a second element based on the comparison result, wherein the element priority of the first element is higher than the element priority of the second element; and determining the second element as the element to be moved.

[0094] Optionally, after determining an element to be moved from the two planar projection elements of the overlapping element pair according to element priority, and before separating the two planar projection elements in the overlapping element pair by moving the element to be moved, the method further includes: measuring the distance between the center points of the two planar projection elements in the overlapping element pair to obtain an overlap reference distance, and determining the minimum feature size based on the two planar projection elements of the overlapping element pair; calculating the overlap distance ratio based on the overlap reference distance and the minimum feature size; and deleting the element to be moved from the planar projection elements if the overlap distance ratio is greater than or equal to a preset distance ratio threshold.

[0095] In some embodiments, the distance percentage threshold is 50%.

[0096] In some embodiments, if the planar projection element is a polygon, the shortest side length of the planar projection element is used as the minimum feature size.

[0097] Optionally, after determining the element to be moved from the two planar projection elements of the overlapping element pair according to element priority, and before separating the two planar projection elements in the overlapping element pair by moving the element to be moved, the method further includes: obtaining the area of ​​the overlapping region corresponding to the overlapping element pair; comparing the projected areas of the two planar projection elements in the overlapping element pair, and selecting one projected area as a reference area based on the comparison result; calculating the overlapping area ratio based on the reference area and the overlapping region area; and deleting the element to be moved from the planar projection elements if the overlapping area ratio is greater than or equal to a preset area ratio threshold.

[0098] In some embodiments, selecting a projection area as a reference area from the projection areas based on the comparison results includes: determining the smallest projection area as the reference area.

[0099] In some embodiments, combined with Figure 7 As shown, the projected areas of the two planar projected elements in the overlapping element pair are compared, and one of the projected areas is selected as the reference area based on the comparison result. The overlapping area ratio is calculated based on the reference area and the overlapping area. If the overlapping area ratio is greater than or equal to the preset area ratio threshold, the element to be moved is deleted from the planar projected elements.

[0100] In some embodiments, if the sensor performance is good, the generated original scene model has a high degree of execution, and it is not necessary to delete some planar projection elements by overlapping distance ratio and overlapping area ratio; at the same time, virtual boundary elements and virtual obstacle elements do not participate in the deletion process by overlapping distance ratio and overlapping area ratio.

[0101] Optionally, separating the two planar projection elements in the overlapping element pair by moving the element to be moved includes: moving the element to be moved in a preset moving direction according to a preset moving step; if the movement of the element to be moved is detected, determining the current overlap state between the two planar projection elements in the overlapping element pair, wherein the current overlap state includes still overlapping or no longer overlapping; if the current overlap state includes still overlapping, moving the element to be moved in the preset moving direction again according to the preset moving step.

[0102] Optionally, the preset movement direction can be determined by any of the following methods: establishing a Cartesian coordinate system with the center point of the second element as the origin, and determining the preset movement direction according to the horizontal axis of the Cartesian coordinate system, wherein the preset movement direction includes the positive direction of the horizontal axis of the Cartesian coordinate system or the negative direction of the horizontal axis of the Cartesian coordinate system; if both planar projection elements of the overlapping element pair are obstacle plane elements, then the direction from the first center point to the second center point is determined as the preset movement direction, wherein the first center point is the center point of the first element, and the second center point is the center point of the second element; if the two planar projection elements of the overlapping element pair are an obstacle plane element and a boundary plane element respectively, then establishing a perpendicular line to the boundary plane element through the center point of the obstacle plane element, and determining the preset movement direction according to the perpendicular line, wherein the preset movement direction is along the perpendicular line and points from the first element to the second element.

[0103] In some embodiments, combined with Figure 8 and Figure 9 As shown, a Cartesian coordinate system is established with the center point of the second element as the origin, and a preset movement direction is determined according to the horizontal axis of the Cartesian coordinate system. The preset movement direction includes the positive direction of the horizontal axis of the Cartesian coordinate system or the negative direction of the horizontal axis of the Cartesian coordinate system.

[0104] In some embodiments, combined with Figure 10 As shown, if both planar projection elements of the overlapping element pair are obstacle plane elements, the direction from the first center point to the second center point is determined as the preset movement direction, where the first center point is the center point of the first element and the second center point is the center point of the second element.

[0105] In some embodiments, combined with Figure 11 As shown, if the two planar projection elements of the overlapping element pair are the obstacle plane element and the boundary plane element respectively, then a perpendicular line is established through the center point of the obstacle plane element to the boundary plane element, and a preset movement direction is determined according to the perpendicular line, wherein the preset movement direction is along the perpendicular line and points from the first element to the second element.

[0106] In some embodiments, the method of moving the element to be moved can include not only translation but also rotation, thereby achieving the purpose of separating the planar projection elements.

[0107] In some embodiments, the number of times the overlapping element pairs are separated is recorded. If the number of separations is greater than or equal to the preset number of processing times, the planar projection elements are converted into a three-dimensional model according to the correspondence between the three-dimensional environment elements and the planar projection elements, so as to obtain the reconstructed scene model corresponding to the original scene model.

[0108] In some embodiments, the planar projection elements are converted into three-dimensional models according to the correspondence between three-dimensional environment elements and planar projection elements to obtain the reconstructed scene model corresponding to the original scene model, including: converting at least a portion of the planar projection elements into three-dimensional models according to a preset display interface to display the reconstructed scene model corresponding to the original scene model.

[0109] Combination Figure 12 As shown, this embodiment of the present disclosure provides a three-dimensional scene model reconstruction system, including an acquisition module 1201, a projection module 1202, a setting module 1203, a separation module 1204, and a conversion module 1205. The acquisition module 1201 is used to acquire an original scene model, which includes multiple three-dimensional environment elements. The projection module 1202 is used to project each three-dimensional environment element onto a preset planar model to obtain a planar projection element corresponding to each three-dimensional environment element. The setting module 1203 is used to set the element priority corresponding to each planar projection element and to take two planar projection elements with overlapping areas as an overlapping element pair. The separation module 1204 is used to determine an element to be moved from the two planar projection elements of the overlapping element pair according to the element priority if there is an overlapping element pair among the planar projection elements, and to separate the two planar projection elements in the overlapping element pair by moving the element to be moved until there is no overlapping area between all planar projection elements. The conversion module 1205 is used to convert the planar projection elements into a three-dimensional model according to the correspondence between the three-dimensional environment elements and the planar projection elements to obtain the reconstructed scene model corresponding to the original scene model.

[0110] The 3D scene model reconstruction system provided in this disclosure projects 3D environment elements from the original scene model onto a preset planar model to obtain planar projection elements. Each planar projection element has a set element priority. If overlapping element pairs exist, the element to be moved is determined based on the element priority. The two planar projection elements in the overlapping pair are separated by moving the element to be moved until there are no overlapping areas between all planar projection elements. The planar projection elements are then converted back into a 3D model to obtain the reconstructed scene model. In this way, the original 3D scene model is projected onto a 2D preset planar model, and the element to be moved is determined based on element priority, thereby separating overlapping planar projection elements and converting them back into a 3D model. This avoids element overlap in the 3D scene model, improves the accuracy of environmental element display in the scene model, and provides accurate reference and guidance for users.

[0111] Figure 13 A schematic diagram of a computer system suitable for implementing the embodiments of this application is shown. It should be noted that... Figure 13The computer system 1300 of the electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0112] like Figure 13 As shown, the computer system 1300 includes a Central Processing Unit (CPU) 1301, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, based on programs stored in Read-Only Memory (ROM) 1302 or programs loaded from Storage Unit 1308 into Random Access Memory (RAM) 1303. The RAM 1303 also stores various programs and data required for system operation. The CPU 1301, ROM 1302, and RAM 1303 are interconnected via a bus 1304. An Input / Output (I / O) interface 1305 is also connected to the bus 1304.

[0113] The following components are connected to I / O interface 1305: an input section 1306 including a keyboard, mouse, etc.; an output section 1307 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 1308 including a hard disk, etc.; and a communication section 1309 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 1309 performs communication processing via a network such as the Internet. A drive 1310 is also connected to I / O interface 1305 as needed. Removable media 1311, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., are installed on drive 1310 as needed so that computer programs read from them can be installed into storage section 1308 as needed.

[0114] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 1309, and / or installed from removable medium 1311. When the computer program is executed by central processing unit (CPU) 1301, it performs various functions defined in the system of this application.

[0115] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0116] This disclosure also provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements any of the methods in this embodiment.

[0117] The computer-readable storage medium in the embodiments of this disclosure will be understood by those skilled in the art: all or part of the steps of the above method embodiments can be implemented by hardware related to computer programs. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disk, or optical disk.

[0118] The electronic device disclosed in this embodiment includes a processor, a memory, a transceiver, and a communication interface. The memory and the communication interface are connected to the processor and the transceiver and complete communication between them. The memory is used to store computer programs, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer programs, so that the electronic device performs the various steps of the above method.

[0119] In this embodiment, the memory may include random access memory (RAM) and may also include non-volatile memory, such as at least one disk storage device.

[0120] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), graphics processing units (GPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0121] The foregoing description and accompanying drawings fully illustrate embodiments of this disclosure to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operation may vary. Parts and subsamples of some embodiments may be included in or replace parts and subsamples of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Similarly, the term “and / or” as used herein means including one or more of the associated listed items and all possible combinations thereof. Additionally, when used in this application, the term "comprise" and its variations "comprises" and / or "comprising" refer to the presence of stated subsamples, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other subsamples, wholes, steps, operations, elements, components, and / or groups thereof. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes the element. In this document, each embodiment may focus on the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, the relevant parts can be referred to the description of the method section.

[0122] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of this disclosure. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0123] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some sub-samples may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than that shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. The operations or steps corresponding to different blocks in the descriptions of the flowcharts and block diagrams in the accompanying drawings may also occur in a different order than disclosed in the description; sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in a block diagram and / or flowchart, and combinations of blocks in a block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for reconstructing a three-dimensional scene model, characterized in that, include: Obtain the original scene model, which includes multiple three-dimensional environment elements; Each of the three-dimensional environment elements is projected onto a preset planar model to obtain the planar projection elements corresponding to each of the three-dimensional environment elements. Set the element priority corresponding to each of the aforementioned planar projection elements, and treat two planar projection elements with overlapping areas as an overlapping element pair; If there are overlapping element pairs among the planar projection elements, then an element to be moved is determined from the two planar projection elements of the overlapping element pair according to the element priority, and the two planar projection elements in the overlapping element pair are separated by moving the element to be moved, until there is no overlapping area between all planar projection elements. Based on the correspondence between the three-dimensional environment elements and the planar projection elements, the planar projection elements are converted into a three-dimensional model to obtain the reconstructed scene model corresponding to the original scene model. Obtaining the original scene model includes: collecting surrounding environmental information within a preset range through the target vehicle, the environmental information including obstacle objects and vehicle driving boundaries; establishing a three-dimensional model based on the target vehicle and the surrounding environmental information to obtain the original scene model, wherein the main model elements corresponding to the target vehicle, the obstacle model elements corresponding to the obstacle objects, and the boundary model elements corresponding to the vehicle driving boundaries are used as the three-dimensional environmental elements of the original scene model. Projecting each of the three-dimensional environment elements onto a preset planar model to obtain planar projection elements corresponding to each of the three-dimensional environment elements includes: presetting one or more projection angles; projecting the three-dimensional environment elements onto the preset planar model according to each projection angle to obtain planar projection elements corresponding to each projection angle, wherein the planar projection elements include the main planar elements corresponding to the main model elements, the obstacle planar elements corresponding to the obstacle model elements, and the boundary planar elements corresponding to the boundary model elements; Setting the element priority corresponding to each of the planar projection elements includes at least one of the following: presetting the element priority corresponding to each of the three-dimensional environment elements, wherein the element priority corresponding to the main model element is higher than the element priority corresponding to the boundary model element, and the element priority corresponding to the boundary model element is higher than the element priority corresponding to the obstacle model element; calculating the element priority corresponding to each of the planar projection elements based on the projection area of ​​the planar projection element, the relative distance between the planar projection element and the main planar element, and the preset priority index of the planar projection element.

2. The method according to claim 1, characterized in that, After obtaining the original scene model, before projecting each of the three-dimensional environment elements onto a preset planar model to obtain the planar projection elements corresponding to each of the three-dimensional environment elements, the method further includes: Virtual model elements are pre-defined, wherein the virtual model elements include virtual obstacle elements and / or virtual boundary elements; If the virtual model element includes a virtual obstacle element, then the virtual obstacle element is added as a new obstacle model element to the original scene model; If the virtual model element includes a virtual boundary element, then the virtual boundary element is added as a new boundary model element to the original scene model.

3. The method according to claim 1, characterized in that, After projecting each of the three-dimensional environment elements onto a preset planar model to obtain the planar projection elements corresponding to each of the three-dimensional environment elements, and before taking two planar projection elements with overlapping areas as an overlapping element pair, the method further includes: Use any boundary plane element as the reference boundary and any obstacle plane element as the obstacle to be determined; If the center point of the main planar element and the center point of the obstacle to be determined are located on both sides of the reference boundary, then the obstacle to be determined is deleted from the planar projection element.

4. The method according to claim 1, characterized in that, The element priority corresponding to the planar projection element is determined by the following formula: ， in, For the first The element priority corresponding to each planar projection element For the first The projected area of ​​a planar projected element. For the first The relative distance between each planar projection element and the main planar element For the first Preset priority index for each planar projection element , These are the preset weighting coefficients.

5. The method according to claim 1, characterized in that, The relative distance between a planar projection element and the main planar element includes any of the following: The distance from the center point of the planar projection element to the center point of the main planar element; The shortest distance between the planar projection element and the main planar element; The shortest distance from the center point of the planar projection element to any side of the main planar element.

6. The method according to claim 1, characterized in that, Determine an element to be moved from the two planar projection elements of the overlapping element pair according to the element priority, including: The element priorities of the two planar projection elements in the overlapping element pair are compared. Based on the comparison result, the two planar projection elements of the overlapping element pair are determined as the first element and the second element, respectively, wherein the element priority of the first element is higher than the element priority of the second element. The second element is selected as the element to be moved.

7. The method according to claim 6, characterized in that, Separating the two planar projected elements in the overlapping element pair by moving the element to be moved includes: The element to be moved is moved in a preset direction according to a preset movement step size; If the movement of the element to be moved is detected, the current overlap state between the two planar projection elements in the overlapping element pair is determined, wherein the current overlap state includes still overlapping or no longer overlapping. If the current overlapping state includes still overlapping, then the element to be moved will be moved again in the preset moving direction according to the preset moving step size.

8. The method according to claim 7, characterized in that, Determine the preset movement direction using any of the following methods: Establish a Cartesian coordinate system with the center point of the second element as the origin, and determine a preset movement direction according to the horizontal axis of the Cartesian coordinate system, wherein the preset movement direction includes the positive direction of the horizontal axis of the Cartesian coordinate system or the negative direction of the horizontal axis of the Cartesian coordinate system. If both planar projection elements of the overlapping element pair are obstacle plane elements, then the direction from the first center point to the second center point is determined as the preset movement direction, wherein the first center point is the center point of the first element and the second center point is the center point of the second element; If the two planar projection elements of the overlapping element pair are an obstacle plane element and a boundary plane element, respectively, a perpendicular line is established through the center point of the obstacle plane element to the boundary plane element, and a preset movement direction is determined according to the perpendicular line, wherein the preset movement direction is along the perpendicular line and points from the first element to the second element.

9. The method according to any one of claims 1 to 8, characterized in that, After projecting each of the three-dimensional environment elements onto a preset planar model to obtain the planar projection elements corresponding to each of the three-dimensional environment elements, and before taking two planar projection elements with overlapping areas as an overlapping element pair, the method further includes: Pre-set the interval adjustment parameters for each of the three-dimensional environment elements; The planar projection element is enlarged or reduced based on the interval adjustment parameter corresponding to the planar projection element, wherein the interval reference point includes the center point of the planar projection element.

10. The method according to any one of claims 1 to 8, characterized in that, After determining an element to be moved from the two planar projection elements of the overlapping element pair according to the element priority, and before separating the two planar projection elements in the overlapping element pair by moving the element to be moved, the method further includes: The distance between the center points of the two planar projection elements in the overlapping element pair is measured to obtain the overlapping reference distance, and the minimum feature size is determined based on the two planar projection elements of the overlapping element pair. The overlap distance ratio is calculated based on the overlap reference distance and the minimum feature size. If the overlap distance ratio is greater than or equal to a preset distance ratio threshold, then the element to be moved is deleted from the planar projection elements.

11. The method according to any one of claims 1 to 8, characterized in that, After determining an element to be moved from the two planar projection elements of the overlapping element pair according to the element priority, and before separating the two planar projection elements in the overlapping element pair by moving the element to be moved, the method further includes: Obtain the area of ​​the overlapping region corresponding to the pair of overlapping elements; The projected areas of the two planar projected elements in the overlapping element pair are compared, and one of the projected areas is selected as the reference area based on the comparison result. The percentage of overlapping area is calculated based on the reference area and the area of ​​the overlapping region. If the overlapping area ratio is greater than or equal to a preset area ratio threshold, then the element to be moved is deleted from the planar projection elements.

12. A three-dimensional scene model reconstruction system, characterized in that, include: The acquisition module is used to acquire the original scene model, which includes multiple three-dimensional environment elements. The projection module is used to project each of the three-dimensional environment elements onto a preset planar model to obtain the planar projection elements corresponding to each of the three-dimensional environment elements. The setting module is used to set the element priority corresponding to each of the planar projection elements, and to treat two planar projection elements with overlapping areas as an overlapping element pair. The separation module is used to determine an element to be moved from the two planar projection elements of the overlapping element pair according to the element priority if there is an overlapping element pair in the planar projection elements, and to separate the two planar projection elements in the overlapping element pair by moving the element to be moved, until there is no overlapping area between all planar projection elements. The conversion module is used to convert the planar projection elements into a three-dimensional model according to the correspondence between the three-dimensional environment elements and the planar projection elements, so as to obtain the reconstructed scene model corresponding to the original scene model. The acquisition module acquires the original scene model in the following way: it collects surrounding environmental information within a preset range through the target vehicle, the environmental information including obstacle objects and vehicle driving boundaries; it establishes a three-dimensional model based on the target vehicle and the surrounding environmental information to obtain the original scene model, wherein the main model elements corresponding to the target vehicle, the obstacle model elements corresponding to the obstacle objects, and the boundary model elements corresponding to the vehicle driving boundaries are used as the three-dimensional environmental elements of the original scene model. The projection module obtains the planar projection elements corresponding to each of the three-dimensional environment elements in the following way: one or more projection angles are preset; the three-dimensional environment elements are projected onto the preset planar model according to each projection angle to obtain the planar projection elements corresponding to each projection angle, wherein the planar projection elements include the main planar elements corresponding to the main model elements, the obstacle planar elements corresponding to the obstacle model elements, and the boundary planar elements corresponding to the boundary model elements. The setting module sets the element priority corresponding to each of the planar projection elements in at least one of the following ways: pre-setting the element priority corresponding to each of the three-dimensional environment elements, wherein the element priority corresponding to the main model element is higher than the element priority corresponding to the boundary model element, and the element priority corresponding to the boundary model element is higher than the element priority corresponding to the obstacle model element; the element priority corresponding to each of the planar projection elements is calculated based on the projection area of ​​the planar projection element, the relative distance between the planar projection element and the main planar element, and the preset priority index of the planar projection element.

13. An electronic device, characterized in that, include: Processor and memory; The memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory to cause the electronic device to perform the method as described in any one of claims 1-11.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, it implements the method as described in any one of claims 1-11.

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