Scene rendering method and device for simulation test of unmanned system

Abstract

The invention discloses a scene rendering method and device for an unmanned system simulation test, and belongs to the field of unmanned system simulation tests. In the method, a scene map used for executing an unmanned system simulation test is obtained, a target scene area is separated from the scene map in response to an area selection instruction, a scene boundary map matched with the target scene area is further obtained, the target scene area and the scene boundary map are combined to obtain a combined scene area, and the combined scene area is used for executing the unmanned system simulation test. And in the process of running the unmanned system simulation test, performing scene rendering on the combined scene area according to the propulsion view angle of the virtual camera. Compared with rendering of the whole scene map, the method has the advantages that redundant parts in the scene map are deleted, rendering resources are greatly saved, and processing overhead is reduced; moreover, compared with direct rendering of the target scene area, the scene boundary map is added to the boundary of the target scene area to display a more real horizon line, and a visual display effect is taken into account.

Description

Technical Field

[0001] The present application relates to the field of unmanned system simulation testing, and specifically to a scene rendering method and device for unmanned system simulation testing. Background Art

[0002] With the development of intelligent technology, unmanned systems (such as unmanned vehicles, drones, robots, etc.) have been applied to various fields. In order to ensure the safety, stability, and reliability of the operation of unmanned systems, it is necessary to fully test and verify the performance of unmanned systems.

[0003] Due to the defects of long test cycle, high cost and low efficiency in testing unmanned systems in real scenes, simulation test methods based on virtual scenes have been proposed and continuously studied and applied. In order to simulate real scenes, scene maps based on real scenes are preset in the unmanned system simulation test platform. When performing simulation tests, the unmanned system is connected to the unmanned system simulation test platform, and the scene map is loaded to perform scene rendering. The performance of the unmanned system is tested by the behavior of the unmanned system in the rendered virtual scene, such as the formation time, formation support number, formation error, etc. of multiple unmanned systems in the virtual scene to test the formation ability of the unmanned system. Usually, in order to make the virtual scene closer to the real scene, various backgrounds and elements in the real scene are considered as much as possible when constructing the scene map, such as terrain, buildings, obstacles, greening, roads, traffic signs and markings, etc. It can be seen that the elements in the scene map are rich and varied and numerous. In addition, considering the visual effect of the unmanned system simulation test platform when displaying the test process, it is necessary to render the scene map at a higher resolution to obtain a more realistic and clearer virtual scene.

[0004] Therefore, during the unmanned system simulation test process, a large amount of rendering resources are required, which brings huge processing overhead to the unmanned system simulation test platform, easily leading to excessive platform operation load, and even causing sudden test interruption, platform system crash and other consequences. Summary of the invention

[0005] The present application provides a scene rendering method and device for unmanned system simulation testing. The technical solution is as follows: According to one aspect of the present application, a scene rendering method for unmanned system simulation testing is provided, the method comprising: Acquire a scene map for performing unmanned system simulation testing, and in response to a region selection instruction, separate a target scene region from the scene map; Obtain a scene boundary map that matches the target scene area, where the scene boundary map is used to surround the target scene area; Combining the target scene area and the scene boundary map to obtain a combined scene area; During the unmanned system simulation test, the virtual camera advances the viewing angle and renders the combined scene area.

[0006] Optionally, acquiring a scene map for performing the unmanned system simulation test, and separating a target scene area from the scene map in response to an area selection instruction, includes: In response to the area selection instruction, obtaining a selection range of the target scene area from the scene map; Obtain the minimum ellipse surrounding the selection range, and perform boundary expansion processing on the minimum ellipse to obtain the initial boundary of the target scene area; Based on the maximum driving altitude of the unmanned system and the candidate viewing angle range, the initial boundary is corrected to obtain the corrected boundary of the target scene area; Delete the portion of the scene map that is outside the correction boundary and use the remaining portion of the scene map as the target scene area.

[0007] Optionally, the expansion coefficient of the boundary expansion process is negatively correlated with the area of ​​the minimum ellipse.

[0008] Optionally, the step of acquiring a scene boundary map that matches the target scene area, wherein the scene boundary map is used to surround the target scene area, includes: Obtain a scene map library, which includes multiple scene maps with the same labels as the scene map; Extracting scene features within the boundary range of the target scene area; A scene map that is consistent with the scene features is selected from the scene map library as the scene boundary map.

[0009] Optionally, combining the target scene area and the scene boundary map to obtain a combined scene area includes: Obtaining a boundary scene element, where the boundary scene element is located at the boundary of the target scene area; Based on the height of the boundary scene elements and the maximum driving height of the unmanned system, an effective boundary is determined, and the effective boundary can block the observation angle of the unmanned system; Remove the effective boundary from the boundary of the target scene area to obtain the location where the texture is added; At the map adding position of the target scene area, the scene boundary map is added vertically and outwardly to obtain a combined scene area.

[0010] Optionally, in the process of running the unmanned system simulation test, the scene rendering is performed on the combined scene area according to the virtual camera advancing the viewing angle, including: Based on the virtual camera advancing the viewing angle, a display area in the combined scene area is acquired; For a target scene element in the display area, a view image of the target scene element under a reference view facing the virtual camera's advancing viewing angle is obtained; Renders the view image at the target scene element's generation position.

[0011] Optionally, rendering the view image at the generation position of the target scene element includes: Calculate the straight-line distance between the target scene element and the virtual camera; Based on a preset correspondence relationship, the resolution corresponding to the straight-line distance is used as the rendering resolution, wherein the preset correspondence relationship includes at least one set of correspondence between a distance range and a resolution; Convert the initial resolution of the view image to the rendering resolution; Render the view image at the target scene element generation position according to the rendering resolution.

[0012] Optionally, after combining the target scene area and the scene boundary map to obtain the combined scene area, the process further includes: Get the position coordinates and light intensity of the preset virtual light source; Based on the position coordinates of the preset virtual light source, taking the plumb line passing through the center point of the combined scene area as the symmetry axis, adding an auxiliary virtual light source at a symmetrical position of the preset virtual light source; Based on the lighting intensity of the preset virtual light source, setting the lighting intensity of the auxiliary virtual light source; Under the joint action of the preset virtual light source and the auxiliary virtual light source, scene rendering is performed on the combined scene area.

[0013] Optionally, the performing scene rendering on the combined scene area under the joint action of the preset virtual light source and the auxiliary virtual light source includes: The preset virtual light source acts on the combined scene area, the auxiliary virtual light source acts on the scene boundary map in the combined scene area, and scene rendering is performed on the combined scene area.

[0014] According to one aspect of the present application, a scene rendering device for unmanned system simulation testing is provided, the device comprising: A map acquisition module, used to acquire a scene map for performing unmanned system simulation testing, and in response to a region selection instruction, separate a target scene region from the scene map; A texture acquisition module is used to acquire a scene boundary texture that matches the target scene area, and the scene boundary texture is used to surround the target scene area; A region combination module is used to combine the target scene region and the scene boundary map to obtain a combined scene region; The scene rendering module is used to render the combined scene area according to the virtual camera's perspective during the unmanned system simulation test.

[0015] According to another aspect of the present application, a computer device is also provided, which includes a processor and a memory; the memory stores at least one instruction, and the at least one instruction is used to be executed by the processor to implement the scene rendering method for the unmanned system simulation test as mentioned above.

[0016] According to another aspect of the present application, a computer-readable storage medium is also provided, in which at least one instruction, at least one program, a code set or an instruction set is stored, and the at least one instruction, the at least one program, the code set or the instruction set is loaded and executed by the processor to implement the scene rendering method for the unmanned system simulation test as mentioned above.

[0017] According to another aspect of the present application, a computer program product is also provided. The computer program product stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the scene rendering method for the unmanned system simulation test mentioned above.

[0018] The beneficial effects achieved by this application include at least the following three parts.

[0019] (1) Based on user selection, remove the redundant parts of the scene map and add textures at the boundaries.

[0020] For the current test task, based on the selection range framed by the user, the target scene area used to perform the simulation test is automatically expanded and corrected, and a scene boundary map matching the target scene area is obtained to surround the target scene area to form a combined scene area. The scene display of the simulation test process is realized by rendering the combined scene area.

[0021] Compared with rendering the entire scene map, the present application deletes the redundant parts of the scene map, greatly saving rendering resources and reducing the processing overhead of the unmanned system simulation test platform; and, when automatically correcting the target scene area and adding scene boundary maps, the present application combines multiple factors such as the terrain, the height of the scene elements, the candidate viewing range of the object under test (unmanned system), and the maximum driving altitude, to fully eliminate and avoid unnecessary rendering resources and optimize the configuration of rendering resources.

[0022] Compared to directly rendering the target scene area, the present application adds a scene boundary map to the boundary of the target scene area to show a more realistic horizon, while taking into account the visual display effect; and, the scene boundary map is added in a vertically outward tilted manner, which enhances the visual effect of the boundary extension and is closer to the real scene.

[0023] (2) Add auxiliary virtual light sources in addition to the preset virtual light sources to provide targeted fill light when rendering the scene.

[0024] Since the scene boundary map is added vertically and tilted outward, when the preset virtual light source is obliquely projected from outside the combined scene area, the display brightness of the position on the scene boundary map close to the preset virtual light source will be lower than the display brightness of the position far away from the preset virtual light source, thereby producing a light and dark contrast and shadow structure that is inconsistent with the real scene. To this end, the present application uses the plumb line through the center point of the combined scene area as the axis of symmetry, adds auxiliary virtual light sources at the symmetrical positions of the preset virtual light sources, so that the preset virtual light source acts on the entire combined scene area and the auxiliary virtual light source acts on the scene boundary map, so as to achieve targeted fill light for the scene boundary map and improve the realism of the scene rendering.

[0025] (3) Use intrinsic color maps to render some or all scene elements, and render them in different levels based on distance.

[0026] When using material rendering, if the rendering resources and processing overhead are insufficient, the rendering may be delayed or partially rendered alternately, resulting in flickering stripes similar to moiré in the displayed image. To this end, this application uses intrinsic color maps to render some or all scene elements, and combines the view images under each reference view as scene elements to avoid flickering stripes during rendering.

[0027] In addition, when pre-configuring the view images under each reference view of the scene element, the present application pre-configures the view images at the highest resolution, and subsequently adjusts the rendering resolution (less than or equal to the highest resolution) based on the straight-line distance between the scene element and the virtual camera. If the straight-line distance between the scene element and the virtual camera is larger, the rendering resolution is smaller, so that it can be rendered at a smaller resolution when the distance is far, saving rendering resources; if the straight-line distance between the scene element and the virtual camera is smaller, the rendering resolution is larger, so that it can be rendered at a larger resolution when the distance is close, taking into account the visual display effect of the user interface. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 A flow chart of a scene rendering method for unmanned system simulation testing provided by an exemplary embodiment of the present application is shown; Figure 2 A schematic diagram of obtaining the initial boundary of a target scene area provided by an exemplary embodiment of the present application is shown; Figure 3 A schematic diagram of initial boundary correction of a target scene area provided by an exemplary embodiment of the present application is shown; Figure 4 A schematic diagram of a method for adding multiple scene boundary maps provided by an exemplary embodiment of the present application is shown; Figure 5 A schematic diagram showing a combination method of a target scene area and a scene boundary map provided by an exemplary embodiment of the present application is shown; Figure 6 A schematic diagram of the effect of a preset virtual light source provided by an exemplary embodiment of the present application is shown; Figure 7 A schematic diagram showing the position of an auxiliary virtual light source provided by an exemplary embodiment of the present application is shown; Figure 8 A schematic diagram of a scene rendering device for unmanned system simulation testing provided by an embodiment of the present application is shown; Fig. 9 A structural block diagram of a computer device provided by an exemplary embodiment of the present application is shown. Implementation

[0030] In order to make the purpose, technical solution and advantages of the present application clearer, the following will further describe the implementation of the present application in detail with reference to the accompanying drawings. In addition, the technical features involved in the different implementations of the present application described can be combined with each other as long as they do not conflict with each other.

[0031] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, it can also be the internal connection of two components, it can be a wireless connection, or it can be a wired connection. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances. Example

[0033] Please refer to Figure 1 , which shows a scene rendering method for unmanned system simulation test provided by an embodiment of the present application, which can be applied to a computer device, and the method includes: Step 1: obtain a scene map for performing unmanned system simulation testing, and in response to an area selection instruction, separate a target scene area from the scene map.

[0034] Unmanned systems include but are not limited to unmanned vehicles, drones, robots, etc. An unmanned system simulation test can be conducted on one unmanned system, or multiple unmanned systems, or a group of unmanned systems, such as a test on an unmanned vehicle or a group of drones (including multiple drones). Scene maps used to perform unmanned system simulation tests include but are not limited to deserts, snowfields, cities, villages, plains, hills, beaches, mountains, etc.

[0035] After acquiring the scene map, the unmanned system simulation test platform displays the scene map, so that the user can select the scene area used for the current test task from the scene map. In response to the area selection instruction received based on the user operation, the unmanned system simulation test platform separates the target scene area from the scene map, and then executes the current test task based on the target scene area. Optionally, the area selection instruction can be a selection instruction for one or more area ranges, or a selection instruction for one or more scene elements.

[0036] In one example, step 1 includes the following steps 1.1 to 1.4.

[0037] Step 1.1, in response to an area selection instruction, obtain a selection range of a target scene area from a scene map.

[0038] For example, if the area selection instruction is for an area range, then this area range is directly used as the selection range of the target scene area; if the area selection instruction is for multiple area ranges, then the union of these multiple area ranges is used as the selection range of the target scene area; if the area selection instruction is for one or more scene elements, then the union of the area ranges where these one or more scene elements are located is used as the selection range of the target scene area. This application does not limit the specific calculation method of the area range where the scene element is located. Optionally, the area range where the scene element is located can be the orthographic projection area of ​​the scene element in the scene map; or, the area range where the scene element is located can be the minimum rectangle or minimum ellipse that surrounds the orthographic projection area of ​​the scene element in the scene map.

[0039] Step 1.2, obtain the minimum ellipse surrounding the selection range, and perform boundary expansion processing on the minimum ellipse to obtain the initial boundary of the target scene area.

[0040] In order to make the display effect of the virtual scene more realistic, the unmanned system simulation test platform automatically corrects the boundary of the target scene area based on the user's selection. Based on this, it is necessary to first obtain a continuous and soft boundary. In this application, an ellipse (including a perfect circle) is used as the initial boundary of the target scene area. When obtaining the initial boundary, both user selection and visual effect should be taken into account. Therefore, the minimum ellipse surrounding the selected range is first obtained based on the user's selection, and then the minimum ellipse is expanded to create a wide field of view at the boundary to enhance the visual effect.

[0041] The present application does not limit the specific manner of the boundary expansion processing. Optionally, the boundary expansion processing is based on a preset expansion coefficient or an expansion coefficient calculated in real time. The expansion coefficient includes but is not limited to the major axis expansion multiple, the minor axis expansion multiple, the major axis expansion length, the minor axis expansion length, the boundary expansion length, etc.

[0042] When the boundary expansion processing is based on a preset expansion coefficient, the expansion coefficient can be pre-configured by the user or configured by the system by default, such as pre-setting the major axis expansion multiple and / or the minor axis expansion multiple to 0.5 times, 1 times, etc. (the major axis expansion multiple and the minor axis expansion multiple may be the same or different), or pre-setting the boundary expansion length to 500 meters, 800 meters, etc.

[0043] In the case where the boundary expansion processing is based on the expansion coefficient calculated in real time, a correspondence between the expansion coefficient and reference data (such as the area of ​​the minimum ellipse, etc.) can be established in advance, and the corresponding expansion coefficient can be obtained from the correspondence through the value of the reference data. Optionally, if the reference data is the area of ​​the minimum ellipse, the corresponding relationship can be established based on the following conditions: the expansion coefficient is negatively correlated with the area of ​​the minimum ellipse, that is, the smaller the area of ​​the minimum ellipse, the larger the expansion coefficient; the larger the area of ​​the minimum ellipse, the smaller the expansion coefficient.

[0044] For example, Figure 2 As shown, in the scene map 210, the unmanned system simulation test platform first obtains the selection range 220 based on the user's selection, and then obtains the minimum ellipse 230 surrounding the selection range, and then performs boundary expansion processing on the minimum ellipse 230 to obtain the initial boundary 240 of the target scene area.

[0045] Step 1.3, based on the maximum driving altitude of the unmanned system and the candidate viewing angle range, the initial boundary is corrected to obtain the corrected boundary of the target scene area.

[0046] In order to make the boundary of the target scene area more accurate and avoid unnecessary waste of rendering resources, after obtaining the initial boundary of the target scene area, the application further corrects the initial boundary based on the maximum driving height of the unmanned system and the candidate viewing angle range. Among them, the candidate viewing angle range refers to all the viewing angles that the unmanned system may take during the simulation test process. For the simulation test process displayed from the perspective of the unmanned system, if the scene element or scene area is outside the candidate viewing angle range, it will not be displayed. Therefore, the correction can be performed by taking the union of the candidate viewing angle range and the initial boundary. In addition, if the height of the scene element in the initial boundary is greater than the maximum driving height of the unmanned system, and there are redundant elements outside the candidate viewing angle range around the scene element (such as within 100 meters or 200 meters from the center point of the scene element, etc.), the redundant elements will not be displayed due to the occlusion of the scene element, so the initial boundary can be subjected to boundary erosion processing to remove the redundant elements outside the boundary.

[0047] For example, Figure 3 As shown, there are scene elements 250 (multiple high mountains) within the initial boundary 240 of the target scene area. Assuming that the height of the scene element 250 is greater than the highest flight angle of the unmanned system, and the driving route of the unmanned system is located on the right side of the scene element 250, the scene element 260 (forest) on the left side of the scene element 250 cannot be observed by the unmanned system due to the occlusion of the scene element 250, so the scene element 260 is a redundant element; the unmanned system simulation test platform performs boundary erosion processing on the initial boundary 240 to remove the scene element 260 outside the boundary, thereby obtaining the corrected boundary 242 of the target scene area. It should be understood that there may also be scene elements and corresponding scene backgrounds outside the target scene area in the scene map 210, Figure 3 It is not shown for the convenience of description only and does not constitute a limitation of the present application.

[0048] Optionally, after the unmanned system simulation test platform calculates the corrected boundary of the target scene area, boundary confirmation controls and boundary modification controls (such as buttons, sliders, text boxes, drop-down bars, etc.) can be displayed; if the user operates the boundary confirmation control, the unmanned system simulation test platform receives a confirmation instruction for the corrected boundary, and continues to execute the following step 1.4 based on the corrected boundary; if the user operates the boundary modification control, the unmanned system simulation test platform receives a modification instruction for the corrected boundary, updates the corrected boundary in response to the user's modification operation, and continues to execute the following step 1.4 based on the updated corrected boundary. Of course, users can also trigger confirmation instructions and / or modification instructions for the corrected boundary in other ways, such as voice, AI (Artificial Intelligence), gestures, etc., and this application does not limit this.

[0049] In step 1.4, the portion of the scene map that is outside the corrected boundary is deleted, and the remaining portion of the scene map is used as the target scene area.

[0050] For the current test task, there is no need to use the map part outside the correction boundary. In order to save scene rendering resources and reduce the processing overhead of simulation testing, the unmanned system simulation test platform directly deletes all the map parts (including terrain background and scene elements, etc.) outside the correction boundary in the scene map, so that the remaining part of the scene map is the target scene area. Figure 3 Taking the modified boundary 242 as an example, the scene elements 260 outside the modified boundary 242 will be deleted.

[0051] Step 2: Obtain a scene boundary map that matches the target scene area. The scene boundary map is used to surround the target scene area.

[0052] If only the target scene area separated in step 1 above is used to perform the simulation test, it is easy to cause the boundary of the target scene area to be abruptly connected to the sky during scene rendering, affecting the visual display effect of the simulation test process. Therefore, the present application obtains a scene boundary map that matches the target scene area to surround (including fully surrounding or semi-enclosing) the target scene area, so as to display a more realistic horizon (the line where the sky and the ground meet when looking horizontally) during scene rendering. Optionally, in order to further enhance the visual display effect, the scene boundary map uses an irregular boundary.

[0053] The present application does not limit the specific method for obtaining the scene boundary map. Optionally, the scene boundary map is pre-configured, for example, the user and / or the platform pre-configures a scene map corresponding to the scene map, and then directly obtains the scene map as the scene boundary map; or, the scene boundary map is selected from the pre-configured scene maps, for example, the user and / or the platform pre-configures multiple scene maps corresponding to the scene map, and then selects a scene map that matches the target scene area from the multiple scene maps as the scene boundary map; or, the scene boundary map is configured in real time, for example, after separating the target scene area, the user and / or the platform configures the scene boundary map in real time based on the target scene area. Among them, the specific configuration content of the scene boundary map includes but is not limited to: background, saturation, brightness, hue, scene elements, etc.

[0054] In one example, taking selecting a scene boundary map from preconfigured scene maps as an example, step 2 includes the following steps 2.1 to 2.3.

[0055] Step 2.1, obtain a scene map library, which includes multiple scene maps with the same labels as the scene map.

[0056] The unmanned system simulation test platform can obtain a scene map library from its own storage or external storage. The scene map library includes at least one group of scene maps, each group of scene maps corresponds to a scene map (with the same label), and each group of scene maps includes multiple scene maps. For example, if the labels of the scene map include desert, city, etc., the scene map library includes multiple scene maps with the label of desert, multiple scene maps with the label of city, etc.

[0057] Optionally, the label of the scene map can be preconfigured and / or determined based on the picture content of the scene map. For example, the label of the scene map is manually preconfigured when the scene map is stored in the scene map library. This can provide scene maps with richer content. For example, an urban scene can provide scene maps with content such as fields, forests, mountains, etc.; or, the storage system automatically identifies and configures the label of the scene map based on the picture content of the scene map. This can automatically and efficiently configure the scene map.

[0058] Step 2.2, extract scene features within the boundary range of the target scene area.

[0059] Since the scene boundary map is used to surround the target scene area, in order to ensure a natural transition between the scene boundary map and the target scene area, it is necessary to first extract the scene features within the boundary range of the target scene area, and then use this as a basis for screening the scene boundary map. Among them, the boundary range refers to the area range formed by the boundary of the target scene area to the boundary indented inward by a preset length (such as 100 meters, 500 meters, 1000 meters, etc.). The present application does not limit the specific content of the scene features. Optionally, the scene features include scene background features and scene element features. The scene background features include but are not limited to background saturation, background brightness, background hue, etc.; the scene element features include but are not limited to element type, element quantity, element saturation, element brightness, element hue, etc.

[0060] Step 2.3, select a scene map that is consistent with the scene features from the scene map library as the scene boundary map.

[0061] This application also has different settings for the judgment criteria of "consistent with scene features" according to the specific content of the scene features. For example, if the scene features include background saturation, the judgment criteria include that the difference in background saturation is within a preset range, and the background saturation of the scene map is lower than the background saturation within the boundary range; if the scene features include element types and element numbers, the judgment criteria include that the scene map has one or more element types that are subordinate to the element types within the boundary range, and the number of elements in the scene map is less than the number of elements within the boundary range.

[0062] Optionally, if the scene map cannot be selected from the scene map library through step 2.3, the user can arbitrarily select one or more scene maps, or modify the scene features based on the platform default scene map, such as modifying the background saturation, the number of elements, etc., and use the modified scene map as the scene boundary map. Optionally, the modified scene map can be saved to the scene map library to update the scene map library.

[0063] Step 3: Combine the target scene area and the scene boundary map to obtain a combined scene area.

[0064] The scene boundary map is used to surround the target scene area. Therefore, you can add the scene boundary map on the boundary of the target scene area to achieve the connection and combination of the target scene area and the scene boundary map. When adding the scene boundary map, you can add the scene boundary map vertically or add it vertically outward to enhance the visual effect of the boundary extension. For other instructions on adding vertically outward, please refer to the following step 3.4, which will not be repeated here.

[0065] The scene boundary map obtained by the present application through the above step 2 may be one or more. Based on the different numbers obtained, the method of adding scene boundary maps is also different. Usually, the size of the set scene boundary map is much smaller than the size of the target scene area, and the length of the connection line between the scene boundary map and the target scene area is much shorter than the length of the boundary to which the scene boundary map needs to be added. In the case where one scene boundary map is obtained in step 2, this scene boundary map can be enlarged or stretched to the corresponding length before adding it, or considering the resolution and interface display effect, this scene boundary map can be added in a loop. In the case where multiple scene boundary maps are obtained in step 2, such as Figure 4 As shown, the multiple scene boundary maps can be spliced ​​in sequence and then added or added cyclically, or each scene boundary map can be cyclically added for a certain number of times before splicing. Of course, the scene boundary map can also be added in other ways, such as splicing multiple scene boundary maps in sequence and then enlarging or stretching them to a corresponding length before adding, etc., and this application does not limit this.

[0066] One point that needs to be explained is that this application does not exclude the possibility that "the length of the connection line between the scene boundary map and the target scene area is greater than or equal to the length of the boundary to which the scene boundary map needs to be added". In actual applications, one or more scene boundary maps can be flexibly processed by enlarging, reducing, stretching, compressing, cropping, splicing, looping, etc., and then combined with the target scene area.

[0067] It should be understood that the above-mentioned "border length to which the scene border map needs to be added" is not necessarily equal to the border length of the target scene area. If the scene border map fully surrounds the target scene area, the border length to which the scene border map needs to be added is equal to the border length of the target scene area, and the scene border map needs to be added at each position on the border; if the scene border map half surrounds the target scene area, the border length to which the scene border map needs to be added is less than the border length of the target scene area, and the scene border map needs to be added at a specific position on the border.

[0068] In one example, taking the scene boundary map half-enclosing the target scene area as an example, step 3 includes the following steps 3.1 to 3.4.

[0069] Step 3.1, obtaining a boundary scene element, where the boundary scene element is located at the boundary of the target scene area.

[0070] For example, Figure 5 As shown, on the boundary 242 of the target scene area, there are scene elements 250 (multiple high mountains) and scene elements 270 (forest).

[0071] Step 3.2, based on the height of the boundary scene elements and the maximum driving height of the unmanned system, determine the effective boundary, which can block the observation angle of the unmanned system.

[0072] If the height of the boundary scene element is greater than the maximum driving height of the unmanned system, the boundary scene element can effectively block the view of the unmanned system, and there is no need to add a scene boundary map to construct the horizon. Therefore, it is necessary to obtain an effective boundary that can block the observation view of the unmanned system from the boundary of the target scene area. This application uses the boundary of the element part of the boundary scene element whose height is greater than the maximum driving height of the unmanned system as the effective boundary.

[0073] For example, Figure 5 As shown, the boundary scene elements include scene element 250 and scene element 270. Assuming that the height of each element part in scene element 270 is less than the maximum driving height of the unmanned system, and the height of each element part in scene element 250 is greater than the maximum driving height of the unmanned system, then the boundary where scene element 250 is located (the boundary part in the dotted box) is taken as the effective boundary 244.

[0074] Step 3.3, remove the effective boundary from the boundary of the target scene area to obtain the location where the texture is added.

[0075] For example, Figure 5 As shown, the effective boundary 244 shown in the dashed box is removed from the boundary 242 of the target scene area to obtain the map adding position 246.

[0076] Step 3.4, at the location where the texture is added in the target scene area, add the scene boundary texture vertically and outwardly to obtain a combined scene area.

[0077] Among them, vertical outward tilt means that the plane where the scene boundary map is located is at an obtuse angle with the plane where the target scene area is located, such as 120 degrees, 145 degrees, 150 degrees, 160 degrees, etc. Since the location where the map is added may be an arc or an irregular line, the stretching, compression or distortion of the scene boundary map may also be involved when adding the scene boundary map vertically outward tilt.

[0078] For example, Figure 5 As shown, assuming that a scene boundary map is added in a cyclic manner, the scene boundary map is added to the map adding position 246 to obtain a combined scene area.

[0079] Step 4: During the unmanned system simulation test, the virtual camera advances the viewing angle and renders the combined scene area.

[0080] The unmanned system simulation test platform performs simulation tests for the current test task, and performs targeted scene rendering on the combined scene area according to the virtual camera advancement angle of view. This application shows the simulation test process from the perspective of the unmanned system, so the virtual camera is mounted on the unmanned system. Optionally, the user can adjust the virtual camera advancement angle of view by operating an external device (such as a mouse, keyboard, etc.), or by operating controls (such as buttons, sliders, etc.) in the user interface displayed by the simulation test platform, or by voice input and AI.

[0081] Since there may be a large number of scene elements in the target scene area, when using material rendering to perform scene rendering, if the rendering resources and processing overhead are insufficient, rendering may be delayed or local alternating rendering may occur, resulting in flickering stripes similar to moiré patterns appearing in the displayed image, affecting the visual display effect.

[0082] Based on this, in one example, a base color (BaseColor) map rendering method is adopted for some or all scene elements in the scene map, so that step 4 includes the following steps 4.1 to 4.3.

[0083] Step 4.1, based on the virtual camera advancing the viewing angle, obtain the display area in the combined scene area.

[0084] In order to save rendering resources, this application only performs real-time scene rendering on the area within the virtual camera's advancing viewing angle, so it is necessary to first obtain the display area in the combined scene area.

[0085] Step 4.2, for the target scene element in the display area, obtain a view image of the target scene element under the reference view facing the virtual camera advancement angle of view.

[0086] The target scene element is any scene element in the display area that is rendered using an intrinsic color map. The unmanned system simulation test platform pre-configures the view images of the target scene element in various reference views (such as six views). When the scene rendering is performed later, the rendering of the target scene element is achieved by rendering the view images. Since not all reference views may be observed under the current virtual camera advancement perspective, in order to reduce processing overhead, the platform only needs to obtain the view images under the reference view that is facing the virtual camera advancement perspective.

[0087] Step 4.3, render the view image at the generation position of the target scene element.

[0088] When performing scene rendering, for the rendering of the target scene elements, the unmanned system simulation test platform first calculates and obtains the generation position of the target scene elements, and then renders the view image under the corresponding reference view obtained in step 4.2 at the generation position. When rendering the view image, the stretching, compression, distortion, etc. of the view image may be involved.

[0089] Optionally, in order to further save rendering resources, the present invention adopts a hierarchical rendering method for the view images based on the distance, that is, the above step 4.3 includes the following sub-steps (steps 4.3.1 to 4.3.3).

[0090] Step 4.3.1, calculate the straight-line distance between the target scene element and the virtual camera.

[0091] The straight-line distance refers to the distance between the reference point of the target scene element and the reference point of the virtual camera. The present invention does not limit the specific setting of the reference point. Optionally, the reference point can be the geometric center of the target scene element and / or the virtual camera, any vertex, the center point of any face, etc.

[0092] Step 4.3.2, based on a preset correspondence relationship, taking the resolution corresponding to the straight-line distance as the rendering resolution; wherein the preset correspondence relationship includes at least one set of correspondence between a distance range and a resolution.

[0093] When obtaining the rendering resolution, first obtain the distance range where the straight-line distance calculated in step 4.3.1 is located, and then obtain the resolution corresponding to the distance range from the preset correspondence. Among them, there is a negative correlation between the distance value of the distance range in the preset correspondence and the resolution, that is, the larger the distance value of the distance range, the smaller the resolution, and the smaller the distance value of the distance range, the larger the resolution.

[0094] Exemplarily, the preset correspondence includes three groups of correspondence: the distance range of 0 to 1 km corresponds to a resolution of 2048*2048 pixels, the distance range of 1 km to 10 km corresponds to a resolution of 1024*1024 pixels, and the distance range of 10 km to 100 km corresponds to a resolution of 512*512 pixels; assuming that the straight-line distance between the target scene element and the virtual camera is 9 km, the rendering resolution obtained based on the preset correspondence is 1024*1024 pixels.

[0095] Step 4.3.3, convert the initial resolution of the view image to the rendering resolution.

[0096] When the present invention pre-configures the view images of the target scene elements under each reference view, the view images with the highest resolution that can be achieved by the unmanned system simulation test platform are pre-configured, and the highest resolution is the initial resolution. Before actual rendering, the initial resolution of the view image needs to be converted into the required rendering resolution. It should be understood that the rendering resolution is less than or equal to the initial resolution.

[0097] Step 4.3.4, render the view image at the generation position of the target scene element according to the rendering resolution.

[0098] Finally, the view image is rendered at the target scene element generation position according to the rendering resolution to complete the rendering of the target scene element. If the straight-line distance between the target scene element and the virtual camera is larger, the rendering resolution is smaller, so that it can be rendered at a smaller resolution when the distance is far, saving rendering resources; if the straight-line distance between the target scene element and the virtual camera is smaller, the rendering resolution is larger, so that it can be rendered at a larger resolution when the distance is close, taking into account the visual display effect of the user interface.

[0099] In addition, since the present application adds the scene boundary map vertically and outwardly on the boundary of the target scene area when combining the target scene area and the scene boundary map, Figure 6 As shown, if the projection position of the preset virtual light source 280 on the horizontal plane is outside the combined scene area, the position on the scene boundary map that is closer to the preset virtual light source 280 (such as point Q) is darker than the position that is farther from the preset virtual light source 280 (such as point P), which is inconsistent with the actual scene. Based on this, in one example, the present application proposes to add an auxiliary virtual light source in addition to the preset virtual light source, so as to perform scene rendering by the joint action of the auxiliary virtual light source and the preset virtual light source to improve the scene realism, that is, after step 3, the following steps 4.A to 4.D are also included.

[0100] Step 4.A, obtain the position coordinates and light intensity of the preset virtual light source.

[0101] The position coordinates and illumination intensity of the preset virtual light source may be preconfigured by the user or set by the platform by default. The position coordinates may be the coordinates of the preset virtual light source in the three-dimensional world coordinate system.

[0102] Optionally, after the above step 4.A, the method further includes: determining whether the projection position of the preset virtual light source on the horizontal plane is outside the combined scene area. If it is outside the combined scene area, the following may occur: Figure 6In the situation shown, the unmanned system simulation test platform continues to execute the following steps 4.B to 4.D; if it is located within the combined scene area or on the boundary of the combined scene area, there will be no display effect that is inconsistent with the real scene, and there is no need to add auxiliary virtual light sources. The scene rendering is performed directly under the action of the preset virtual light source.

[0103] Step 4.B, based on the position coordinates of the preset virtual light source, taking the plumb line passing through the center point of the combined scene area as the symmetry axis, an auxiliary virtual light source is added at a symmetrical position of the preset virtual light source.

[0104] The plumb line is perpendicular to the horizontal plane. Figure 7 As shown, the present application uses a plumb line passing through a center point 282 of the combined scene area as a symmetry axis 284 , and adds an auxiliary virtual light source 286 at a symmetrical position of the preset virtual light source 280 .

[0105] Step 4.C: based on the illumination intensity of the preset virtual light source, set the illumination intensity of the auxiliary virtual light source.

[0106] The illumination intensity of the auxiliary virtual light source is less than the illumination intensity of the preset virtual light source. For example, the illumination intensity of the auxiliary virtual light source is half or one third of the illumination intensity of the preset virtual light source.

[0107] Step 4.D: Under the joint action of the preset virtual light source and the auxiliary virtual light source, scene rendering is performed on the combined scene area.

[0108] When performing scene rendering, the preset virtual light source acts on the entire combined scene area, while the auxiliary virtual light source acts only on the scene boundary map in the combined scene area. That is, the preset virtual light source acts on the combined scene area, and the auxiliary virtual light source acts on the scene boundary map in the combined scene area, and scene rendering is performed on the combined scene area. Therefore, the auxiliary virtual light source and the preset virtual light source should be set to different lighting channels.

[0109] The beneficial effects achieved by this application include at least the following three parts.

[0110] (1) Based on user selection, remove the redundant parts of the scene map and add textures at the boundaries.

[0111] For the current test task, based on the selection range framed by the user, the target scene area used to perform the simulation test is automatically expanded and corrected, and a scene boundary map matching the target scene area is obtained to surround the target scene area to form a combined scene area. The scene display of the simulation test process is realized by rendering the combined scene area.

[0112] Compared with rendering the entire scene map, the present application deletes the redundant parts of the scene map, greatly saving rendering resources and reducing the processing overhead of the unmanned system simulation test platform; and, when automatically correcting the target scene area and adding scene boundary maps, the present application combines multiple factors such as the terrain, the height of the scene elements, the candidate viewing range of the object under test (unmanned system), and the maximum driving altitude, to fully eliminate and avoid unnecessary rendering resources and optimize the configuration of rendering resources.

[0113] Compared to directly rendering the target scene area, the present application adds a scene boundary map to the boundary of the target scene area to show a more realistic horizon, while taking into account the visual display effect; and, the scene boundary map is added in a vertically outward tilted manner, which enhances the visual effect of the boundary extension and is closer to the real scene.

[0114] (2) Add auxiliary virtual light sources in addition to the preset virtual light sources to provide targeted fill light when rendering the scene.

[0115] Since the scene boundary map is added vertically and tilted outward, when the preset virtual light source is obliquely projected from outside the combined scene area, the display brightness of the position on the scene boundary map close to the preset virtual light source will be lower than the display brightness of the position far away from the preset virtual light source, thereby producing a light and dark contrast and shadow structure that is inconsistent with the real scene. To this end, the present application uses the plumb line through the center point of the combined scene area as the axis of symmetry, adds auxiliary virtual light sources at the symmetrical positions of the preset virtual light sources, so that the preset virtual light source acts on the entire combined scene area and the auxiliary virtual light source acts on the scene boundary map, so as to achieve targeted fill light for the scene boundary map and improve the realism of the scene rendering.

[0116] (3) Use intrinsic color maps to render some or all scene elements, and render them in different levels based on distance.

[0117] When using material rendering, if the rendering resources and processing overhead are insufficient, the rendering may be delayed or partially rendered alternately, resulting in flickering stripes similar to moiré in the displayed image. To this end, this application uses intrinsic color maps to render some or all scene elements, and combines the view images under each reference view as scene elements to avoid flickering stripes during rendering.

[0118] In addition, when pre-configuring the view images under each reference view of the scene element, the present application pre-configures the view images at the highest resolution, and subsequently adjusts the rendering resolution (less than or equal to the highest resolution) based on the straight-line distance between the scene element and the virtual camera. If the straight-line distance between the scene element and the virtual camera is larger, the rendering resolution is smaller, so that it can be rendered at a smaller resolution when the distance is far, saving rendering resources; if the straight-line distance between the scene element and the virtual camera is smaller, the rendering resolution is larger, so that it can be rendered at a larger resolution when the distance is close, taking into account the visual display effect of the user interface.

[0119] like Figure 8 As shown, the embodiment of the present application also provides a structural block diagram of a scene rendering device for unmanned system simulation testing. The device can be implemented as all or part of a computer device through software, hardware, or a combination of both. The device includes: A map acquisition module 801 is used to acquire a scene map for performing unmanned system simulation testing, and to separate a target scene area from the scene map in response to an area selection instruction; A texture acquisition module 802 is used to acquire a scene boundary texture that matches the target scene area, and the scene boundary texture is used to surround the target scene area; A region combining module 803 is used to combine the target scene region and the scene boundary map to obtain a combined scene region; The scene rendering module 804 is used to render the combined scene area according to the virtual camera's perspective during the unmanned system simulation test.

[0120] Optionally, the map acquisition module 801 is used to: In response to the area selection instruction, obtaining a selection range of the target scene area from the scene map; Obtain the minimum ellipse surrounding the selection range, and perform boundary expansion processing on the minimum ellipse to obtain the initial boundary of the target scene area; Based on the maximum driving altitude of the unmanned system and the candidate viewing angle range, the initial boundary is corrected to obtain the corrected boundary of the target scene area; Delete the portion of the scene map that is outside the correction boundary and use the remaining portion of the scene map as the target scene area.

[0121] Optionally, the expansion coefficient of the boundary expansion process is negatively correlated with the area of ​​the minimum ellipse.

[0122] Optionally, the map acquisition module 802 is used to: Obtain a scene map library, which includes multiple scene maps with the same labels as the scene map; Extracting scene features within the boundary range of the target scene area; A scene map that is consistent with the scene features is selected from the scene map library as the scene boundary map.

[0123] Optionally, the region combination module 803 is used to: Obtaining a boundary scene element, where the boundary scene element is located at the boundary of the target scene area; Based on the height of the boundary scene elements and the maximum driving height of the unmanned system, an effective boundary is determined, and the effective boundary can block the observation angle of the unmanned system; Remove the effective boundary from the boundary of the target scene area to obtain the location where the texture is added; At the map adding position of the target scene area, the scene boundary map is added vertically and outwardly to obtain a combined scene area.

[0124] Optionally, the scene rendering module 804 is used to: Based on the virtual camera advancing the viewing angle, a display area in the combined scene area is acquired; For a target scene element in the display area, a view image of the target scene element under a reference view facing the virtual camera's advancing viewing angle is obtained; Renders the view image at the target scene element's generation position.

[0125] Optionally, the scene rendering module 804 is further used for: Calculate the straight-line distance between the target scene element and the virtual camera; Based on a preset correspondence relationship, the resolution corresponding to the straight-line distance is used as the rendering resolution, wherein the preset correspondence relationship includes at least one set of correspondence between a distance range and a resolution; Convert the initial resolution of the view image to the rendering resolution; Render the view image at the target scene element generation position according to the rendering resolution.

[0126] Optionally, the scene rendering module 804 is further used for: Get the position coordinates and light intensity of the preset virtual light source; Based on the position coordinates of the preset virtual light source, taking the plumb line passing through the center point of the combined scene area as the symmetry axis, adding an auxiliary virtual light source at a symmetrical position of the preset virtual light source; Based on the lighting intensity of the preset virtual light source, setting the lighting intensity of the auxiliary virtual light source; Under the joint action of the preset virtual light source and the auxiliary virtual light source, scene rendering is performed on the combined scene area.

[0127] Optionally, the scene rendering module 804 is further used to: use a preset virtual light source to act on the combined scene area, to assist the virtual light source in acting on the scene boundary map in the combined scene area, and to perform scene rendering on the combined scene area.

[0128] Please refer to Fig. 9 , which shows a block diagram of a computer device 900 provided by an exemplary embodiment of the present application. The computer device 900 may be an electronic device such as a smart phone, a desktop computer, a tablet computer, an e-book, a portable personal computer, etc., which has an application installed and running. The computer device 900 in the present application may include one or more of the following components: a processor 910, a memory 920, and a screen 930.

[0129] The processor 910 may include one or more processing cores. The processor 910 uses various interfaces and lines to connect various parts of the entire computer device 900, and executes various functions and processes data of the computer device 900 by running or executing instructions, programs, code sets or instruction sets stored in the memory 920, and calling data stored in the memory 920. Optionally, the processor 910 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 910 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the screen 930; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 910, but may be implemented separately through a communication chip.

[0130] The memory 920 may include a random access memory (RAM) or a read-only memory (ROM). Optionally, the memory 920 includes a non-transitory computer-readable storage medium. The memory 920 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 920 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The operating system may be an Android system (including a system deeply developed based on the Android system), an IOS system developed by Apple (including a system deeply developed based on the IOS system), or other systems. The data storage area may also store data (such as a phone book, audio and video data, chat record data) created by the computer device 900 during use.

[0131] The screen 930 may be a touch display screen, which is used to receive a touch operation on or near it by a user using any suitable object such as a finger or a touch pen, and to display the user interface of each application. The touch display screen is usually arranged on the front panel of the computer device 900. The touch display screen may be designed as a full screen, a curved screen, or a special-shaped screen. The touch display screen may also be designed as a combination of a full screen and a curved screen, or a combination of a special-shaped screen and a curved screen, which is not limited in the embodiments of the present application.

[0132] In addition, those skilled in the art can understand that the structure of the computer device 900 shown in the above drawings does not constitute a limitation on the computer device 900, and the computer device may include more or fewer components than shown in the drawings, or combine certain components, or arrange the components differently. For example, the computer device 900 also includes a radio frequency circuit, a shooting component, a sensor, an audio circuit, a wireless fidelity (WiFi) component, a power supply, a Bluetooth component, and other components, which will not be described in detail here.

[0133] An embodiment of the present application also provides a computer-readable medium, which stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the scene rendering method for unmanned system simulation testing as described in the above embodiments.

[0134] An embodiment of the present application also provides a computer program product, which stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the scene rendering method for unmanned system simulation testing as described in the above embodiments.

[0135] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented with hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication media include any media that facilitates the transmission of a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access.

[0136] The above description is only an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A scene rendering method for unmanned system simulation testing, It is characterized in that The method comprises: Acquire a scene map for performing unmanned system simulation testing, and in response to a region selection instruction, separate a target scene region from the scene map; Obtain a scene boundary map that matches the target scene area, where the scene boundary map is used to surround the target scene area; Combining the target scene area and the scene boundary map to obtain a combined scene area; During the unmanned system simulation test, the virtual camera advances the viewing angle and renders the combined scene area.

2. The scene rendering method for unmanned system simulation test according to claim 1, It is characterized in that In response to the region selection instruction, separating the target scene region from the scene map includes: In response to the area selection instruction, obtaining a selection range of the target scene area from the scene map; Obtain the minimum ellipse surrounding the selection range, and perform boundary expansion processing on the minimum ellipse to obtain the initial boundary of the target scene area; Based on the maximum driving altitude of the unmanned system and the candidate viewing angle range, the initial boundary is corrected to obtain the corrected boundary of the target scene area; Delete the portion of the scene map that is outside the correction boundary and use the remaining portion of the scene map as the target scene area.

3. The scene rendering method for unmanned system simulation test according to claim 2, It is characterized in that The expansion coefficient of the boundary expansion process is negatively correlated with the area of ​​the minimum ellipse.

4. The scene rendering method for unmanned system simulation test according to claim 1, It is characterized in that The step of obtaining a scene boundary map that matches the target scene area includes: Obtain a scene map library, which includes multiple scene maps with the same labels as the scene map; Extracting scene features within the boundary range of the target scene area; A scene map that is consistent with the scene features is selected from the scene map library as the scene boundary map.

5. The scene rendering method for unmanned system simulation test according to claim 1, It is characterized in that The combining the target scene area and the scene boundary map to obtain a combined scene area includes: Obtaining a boundary scene element, where the boundary scene element is located at the boundary of the target scene area; Based on the height of the boundary scene elements and the maximum driving height of the unmanned system, an effective boundary is determined, and the effective boundary can block the observation angle of the unmanned system; Remove the effective boundary from the boundary of the target scene area to obtain the location where the texture is added; At the map adding position of the target scene area, the scene boundary map is added vertically and outwardly to obtain a combined scene area.

6. The scene rendering method for unmanned system simulation test according to claim 1, It is characterized in that The step of advancing the viewing angle of the virtual camera and rendering the combined scene area includes: Based on the virtual camera advancing the viewing angle, a display area in the combined scene area is acquired; For a target scene element in the display area, a view image of the target scene element under a reference view facing the virtual camera's advancing viewing angle is obtained; Renders the view image at the target scene element's generation position.

7. The scene rendering method for unmanned system simulation test according to claim 6, It is characterized in that The rendering of the view image at the generation position of the target scene element includes: Calculate the straight-line distance between the target scene element and the virtual camera; Based on a preset correspondence relationship, the resolution corresponding to the straight-line distance is used as the rendering resolution, wherein the preset correspondence relationship includes at least one set of correspondence between a distance range and a resolution; Convert the initial resolution of the view image to the rendering resolution; Render the view image at the target scene element generation position according to the rendering resolution.

8. The scene rendering method for unmanned system simulation test according to claim 1, It is characterized in that After combining the target scene area and the scene boundary map to obtain the combined scene area, the method further includes: Get the position coordinates and light intensity of the preset virtual light source; Based on the position coordinates of the preset virtual light source, taking the plumb line passing through the center point of the combined scene area as the symmetry axis, adding an auxiliary virtual light source at a symmetrical position of the preset virtual light source; Based on the lighting intensity of the preset virtual light source, setting the lighting intensity of the auxiliary virtual light source; Under the joint action of the preset virtual light source and the auxiliary virtual light source, scene rendering is performed on the combined scene area.

9. The method according to claim 8, It is characterized in that The step of rendering the combined scene area under the combined effect of the preset virtual light source and the auxiliary virtual light source includes: The preset virtual light source acts on the combined scene area, the auxiliary virtual light source acts on the scene boundary map in the combined scene area, and scene rendering is performed on the combined scene area.

10. A scene rendering device for unmanned system simulation testing, It is characterized in that The device comprises: A map acquisition module, used to acquire a scene map for performing unmanned system simulation testing, and in response to a region selection instruction, separate a target scene region from the scene map; A texture acquisition module is used to acquire a scene boundary texture that matches the target scene area, and the scene boundary texture is used to surround the target scene area; A region combination module is used to combine the target scene region and the scene boundary map to obtain a combined scene region; The scene rendering module is used to render the combined scene area according to the virtual camera's perspective during the unmanned system simulation test.

Images