Virtual scheduling test simulation method, device and system, storage medium and equipment

Abstract

The invention provides a virtual scheduling test simulation method, device and system, a computer storage medium and electronic equipment, and relates to the technical field of unmanned driving. Comprising the following steps: in response to a first target job task issued by a cloud platform, displaying a first simulation scene corresponding to the first job task based on the first target job task; loading a target number of virtual object models in a first simulation scene, loading operation path information of each virtual object model in the first simulation scene, and issuing an operation control instruction to each virtual object model through a scheduling system based on the operation path information, enabling each virtual object model to receive the operation control instruction to execute the corresponding control operation; and in response to execution of a second job task at the next moment, displaying a second simulation scene corresponding to the second job task in the user interaction interface until each virtual object model completes the job task. According to the invention, the accuracy of a virtual scheduling simulation result can be improved, and the performance consumption of a scheduling test simulation system can be reduced.

Description

Background Art

[0002] With the rapid development of computer technology and unmanned driving technology, the dispatching of operating vehicles for specific application scenarios has reached a high degree of automation, especially the ability to autonomously dispatch and manage unmanned vehicles remotely. At present, the testing of unmanned driving dispatching systems is mainly divided into online simulation testing and offline field testing. Taking the mining environment as an example, offline field testing can obtain direct feedback and a more comprehensive evaluation, but there are also high safety risks. Strict safety measures and regulatory measures need to be taken to ensure the safety of personnel and equipment. A real mining environment and vehicles, as well as corresponding test equipment and personnel are also required, so the cost is relatively high. The online simulation test is a good solution to the above problems.

[0003] However, the existing online simulation test methods are limited by hardware and accuracy, resulting in a certain deviation between the test results and the actual test results, which in turn affects the accuracy of the simulation results and has high performance consumption. Summary of the invention

[0004] The present disclosure provides a virtual scheduling test simulation method, a virtual scheduling test simulation device, a virtual scheduling test simulation system, a computer storage medium and an electronic device, thereby improving the accuracy of virtual scheduling simulation results and reducing the performance consumption of the virtual scheduling test simulation system.

[0005] In a first aspect, an embodiment of the present disclosure provides a virtual scheduling test simulation method, which is applied to a virtual simulation platform for scheduling tests of virtual object models, and provides a user interaction interface through the virtual simulation platform. The method includes: in response to a first target operation task for a virtual object model issued from a cloud platform, displaying a first simulation scene corresponding to the first operation task to be executed in the user interaction interface based on the first target operation task; the first target operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment of the current moment; loading a target number of virtual object models in the first simulation scene, and loading the operation path information of each virtual object model in the first simulation scene, and issuing operation control instructions to each virtual object model via a scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instructions; in response to executing the second operation task at the next moment, displaying a second simulation scene corresponding to the second operation task in the user interaction interface until each virtual object model completes the first target operation task.

[0006] In a second aspect, an embodiment of the present disclosure provides a virtual scheduling test simulation device, which is applied to a virtual simulation platform for scheduling tests of virtual object models, and provides a user interaction interface through the virtual simulation platform. The device includes: a first simulation scene display module, which is used to respond to a first target operation task for the virtual object model issued from a cloud platform, and display a first simulation scene corresponding to the first operation task to be executed in the user interaction interface based on the first target operation task; the first target operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment of the current moment; a model loading module, which is used to load a target number of virtual object models in the first simulation scene, and load the operation path information of each virtual object model in the first simulation scene, and issue operation control instructions to each virtual object model via a scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instruction; a second simulation scene display module, which is used to respond to the execution of the second operation task at the next moment, and display the second simulation scene corresponding to the second operation task in the user interaction interface until each virtual object model completes the first target operation task.

[0007] In a third aspect, an embodiment of the present disclosure provides a virtual scheduling test simulation system, the system comprising a cloud platform, a scheduling system for a virtual object model, a virtual simulation platform in the scheduling system, a scheduling test of the virtual object model through the virtual simulation platform and a user interaction interface, the system comprising: a cloud platform, for issuing a job task for the virtual object model to the virtual simulation platform; a first target job task at least comprising a first job task to be executed by the virtual object model at the current moment, and a second job task to be executed at the next moment after the current moment; the virtual simulation platform in the scheduling system, for responding to the first target job task for the virtual object model issued from the cloud platform, based on the first target job task The system displays a first simulation scene corresponding to a first operation task to be executed in a user interaction interface; loads a target number of virtual object models in the first simulation scene, and loads operation path information of each virtual object model in the first simulation scene, and issues operation control instructions to each virtual object model via a scheduling system based on the operation path information, so that each virtual object model performs a corresponding control operation according to the received operation control instructions; in response to executing a second operation task at the next moment, displays a second simulation scene corresponding to the second operation task in the user interaction interface until each virtual object model completes the first target operation task; a scheduling system is used to issue operation control instructions to each virtual object model based on the operation path information.

[0008] In a fourth aspect, an embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored thereon, which implements the above virtual scheduling test simulation method when executed by a processor.

[0009] In a fifth aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the above virtual scheduling test simulation method by executing the executable instructions.

[0010] In a sixth aspect, an embodiment of the present disclosure provides a computer program product, including a computer program, which is executed by a processor to implement the above virtual scheduling test simulation method.

[0011] The technical solution disclosed in this disclosure has the following beneficial effects:

[0012] The above-mentioned virtual scheduling test simulation method, by responding to the first target operation task for the virtual object model issued from the cloud platform, displays the first simulation scene corresponding to the first operation task to be executed in the user interaction interface based on the first target operation task; the first target operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment of the current moment; loads the target number of virtual object models in the first simulation scene, and loads the operation path information of each virtual object model in the first simulation scene, and issues operation control instructions to each virtual object model via the scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instructions; in response to executing the second operation task at the next moment, displays the second simulation scene corresponding to the second operation task in the user interaction interface until each virtual object model completes the first target operation task.

[0013] On the one hand, after receiving the first target job task issued by the cloud platform, the method divides the first target job task into the first job task to be executed at the current moment and the second job task to be executed at the next moment, so that only the first simulation scene of the first job task to be executed at the current moment needs to be displayed on the user interaction interface. Compared with the technical problems of high performance consumption and poor real-time performance in the real-time display of the simulation scene of the entire operation area in the prior art, the technical effect of reducing the performance consumption of the virtual scheduling test simulation system is achieved. On the other hand, the method only needs to load the first simulation scene of the first job task to be executed at the current moment, with a small amount of data, and is less restricted by hardware and network delays than the prior art, thereby reducing the adverse effects of the existing online simulation test methods being restricted by hardware and accuracy, which causes a certain deviation between the test results and the actual test results, thereby affecting the technical problem of the accuracy of the simulation results, thereby achieving the technical effect of improving the accuracy of the simulation results.

[0014] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0016] Figure 1 Schematically shows an architecture diagram of a virtual scheduling test simulation system in this exemplary embodiment;

[0017] Figure 2 A flowchart of a virtual scheduling test simulation method in this exemplary embodiment is schematically shown;

[0018] Figure 3 A flowchart of a virtual object model control in this exemplary embodiment is schematically shown;

[0019] Figure 4 A schematic diagram of a user interaction interface in this exemplary embodiment is schematically shown;

[0020] Figure 5 Schematically showing another user interaction interface diagram of this exemplary embodiment;

[0021] Figure 6 A schematic diagram of the structure of a virtual scheduling test simulation device in this exemplary embodiment is shown;

[0022] Figure 7 The structure diagram of an electronic device in this exemplary embodiment is schematically shown. DETAILED DESCRIPTION

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, exemplary embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the exemplary embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0024] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0025] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the steps. For example, some steps may be decomposed, while some steps may be combined or partially combined, so the actual execution order may change according to the actual situation.

[0026] With the rapid development of computer technology and unmanned driving technology, the dispatching of operating vehicles for specific application scenarios has reached a high degree of automation, especially the ability to autonomously dispatch and manage unmanned vehicles remotely. The dispatching system obtains the vehicle's location information and the planned path of the operation task in real time, dispatches vehicles to pass in an orderly manner in complex intersections and complex operation areas, and controls the vehicle to perform specific actions to complete the transportation task. And with the continuous development of technologies such as the fifth generation mobile communication technology (5G), cloud computing, and big data, vehicle dispatching in complex operation areas (for example, unmanned driving dispatching systems in mining areas, airport vehicle dispatching, etc.) has gradually realized vehicle-road-cloud collaboration. This vehicle-road-cloud collaboration method can realize real-time communication and data sharing between vehicles and roadside facilities and cloud platforms, and ultimately improve the overall efficiency and reliability of the dispatching system.

[0027] At present, the testing of existing unmanned dispatching systems is mainly divided into online simulation testing and offline field testing. Among them, offline field testing can obtain direct feedback and a more comprehensive evaluation, but there is also a higher risk of vehicle / personnel safety. Therefore, strict safety measures and regulatory measures need to be taken to ensure the safety of personnel and equipment. In addition, a real mining environment and vehicles, as well as corresponding test equipment and personnel are required, so the cost is relatively high. In addition, field testing is limited by factors such as mining environment, weather, and traffic, and it is impossible to fully simulate all possible test scenarios.

[0028] The online simulation test method can be carried out in a virtual environment, avoiding the safety risks in actual testing and causing no actual damage to personnel and equipment. The online test environment can be easily set up and reset, allowing multiple tests on the same scenario to verify the stability and consistency of the system. Compared with field testing, simulation testing does not require a real mining environment and vehicles, so the cost is lower and the test process is easier to control and adjust.

[0029] However, on the one hand, the existing online simulation system is limited by the hardware and accuracy of the running equipment (such as the data processing performance of computer equipment, the network environment in the actual test scenario, etc.), which makes the test results based on virtual simulation and the actual test results have a certain deviation, which in turn affects the accuracy and timeliness of the simulation results. On the other hand, the existing virtual simulation system usually performs virtual simulation based on the overall operation scenario, resulting in high performance consumption of the simulation results.

[0030] Taking the above problems into consideration, the exemplary embodiment of the present disclosure proposes a virtual scheduling test simulation method, which can be applied to any application scenario that requires virtual simulation. In response to the first target operation task for the virtual object model issued from the cloud platform, the first simulation scene corresponding to the first operation task to be executed is displayed in the user interaction interface based on the first target operation task; the first target operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment of the current moment; the target number of virtual object models are loaded in the first simulation scene, and the operation path information of each virtual object model is loaded in the first simulation scene, and the operation control instructions are issued to each virtual object model via the scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instructions; in response to executing the second operation task at the next moment, the second simulation scene corresponding to the second operation task is displayed in the user interaction interface until each virtual object model completes the first target operation task. That is, on the one hand, after receiving the first target operation task issued by the cloud platform, the method divides the first target operation task into the first operation task to be executed at the current moment and the second operation task to be executed at the next moment, so that only the first simulation scene of the first operation task to be executed at the current moment needs to be displayed on the user interaction interface. Compared with the technical problems of high performance consumption and poor real-time performance in the real-time display of the simulation scene of the entire operation area in the prior art, the technical effect of reducing the performance consumption of the virtual scheduling test simulation system is achieved. On the other hand, the method only needs to load the first simulation scene of the first operation task to be executed at the current moment, with a small amount of data and less restrictions on hardware and network than the prior art, thereby reducing the adverse effects of the existing online simulation test methods being limited by hardware and accuracy, which causes a certain deviation between the test results and the actual test results, thereby affecting the technical problem of the accuracy of the simulation results, thereby achieving the technical effect of improving the accuracy of the simulation results.

[0031] The following will be combined Figure 1 , a virtual scheduling test simulation method and device proposed in the present disclosure is applied to Figure 1 The embodiments are described in the system architecture of the exemplary application environment shown.

[0032] like Figure 1 As shown, it is a schematic diagram of one of the application scenarios provided in an embodiment of the present application. In this scenario, it can include a cloud platform 101, a scheduling system 102 of a virtual object model, and a virtual simulation platform 103 running in the scheduling system 102.

[0033] For example, in an exemplary embodiment, the virtual simulation platform 103 is used for scheduling test of the virtual object model, and the cloud platform is used to issue the first target operation task for the virtual object model to the virtual simulation platform; the virtual simulation platform 103 in the scheduling system 102 is used to respond to the first target operation task for the virtual object model issued from the cloud platform, and display the first simulation scene corresponding to the first operation task to be executed in the user interaction interface based on the first target operation task; the first target operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment of the current moment; load the target number of virtual object models in the first simulation scene, and load the operation path information of each virtual object model in the first simulation scene, and issue the operation control instruction to each virtual object model through the scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instruction; in response to executing the second operation task at the next moment, display the second simulation scene corresponding to the second operation task in the user interaction interface until each virtual object model completes the first target operation task. The scheduling system 102 is used to issue the operation control instruction to each virtual object model based on the operation path information.

[0034] The terminal device is equipped with a scheduling system 102 of a virtual object model, and a virtual simulation platform 103 is run in the scheduling system 102. The terminal device can be, for example, a mobile phone, a tablet computer, a laptop computer, a desktop computer, a smart TV, a smart vehicle device, a smart wearable device, a smart TV, and an aircraft, and any other device involving virtual simulation. The cloud platform 101 can be a background server for a virtual simulation business, and is used to provide corresponding background services for it, such as virtual simulation services. It can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, i.e., content delivery networks (CDNs), and basic cloud computing services such as big data and artificial intelligence platforms, but is not limited to this.

[0035] It should be noted that the virtual scheduling test simulation method in the embodiment of the present application can be executed by a terminal device or a server alone, or it can be executed by a server and a terminal device together. In actual application, specific configuration can be performed according to the situation, and the present application does not make specific limitations here. Among them, both the server and the terminal device may include one or more processors, memories, and interactive I / O interfaces, etc. In addition, the server may also be configured with a database, which may be used to store data generated during the interaction process. Among them, the memories of the server and the terminal device may also store the program instructions required to be executed in the virtual scheduling test simulation method provided in the embodiment of the present application, and these program instructions can be used to implement the virtual scheduling simulation process provided in the embodiment of the present application when executed by the processor.

[0036] It should be noted that when the virtual scheduling test simulation method provided in the embodiment of the present application is executed by a server or a terminal device alone, the above-mentioned application scenario may also only include a single device, a server or a terminal device, or the server terminal device may be considered to be the same device. Of course, in actual application, when the virtual scheduling test simulation method provided in the embodiment of the present application is jointly executed by a server and a terminal device, the server and the terminal device may also be the same device, that is, the server and the terminal device may be different functional modules of the same device, or virtual devices virtualized by the same physical device.

[0037] In the embodiment of the present application, the terminal device and the server can be directly or indirectly connected to each other through one or more networks 104. The network 104 can be a wired network or a wireless network. For example, the wireless network can be a mobile cellular network or a wireless fidelity (Wireless-Fidelity, WIFI) network. Of course, it can also be other possible networks, which are not limited in the embodiment of the present application. It should be noted that Figure 1 The figure is only an example. In fact, the number of terminal devices and servers is not limited and is not specifically limited in the embodiments of the present application.

[0038] Below, in combination with the application scenarios described above, the method provided by the exemplary implementation of the present application is described with reference to the accompanying drawings. It should be noted that the above application scenarios are only shown to facilitate understanding of the spirit and principle of the present application, and the implementation of the present application is not limited in this respect. It should be noted that the following method can be executed by the above terminal device or server, or by the terminal device and the server together. Here, it is specifically shown by taking the execution of the terminal device or the server as an example.

[0039] See also Figure 2 FIG. 1 is a flow chart of a virtual scheduling test simulation method provided in an embodiment of the present application, which can be applied to Figure 1The virtual simulation platform 103 for scheduling test of the virtual object model shown in the figure provides a user interaction interface through the virtual simulation platform 103. Figure 2 A flowchart schematically shows one of the virtual scheduling test simulation methods in this exemplary embodiment, see Figure 2 The virtual scheduling test simulation method provided by the embodiment of the present disclosure includes the following steps S201 to S203:

[0040] Step S201: In response to a first target operation task for a virtual object model issued from a cloud platform, a first simulation scene corresponding to a first operation task to be executed is displayed in a user interaction interface based on the first target operation task.

[0041] The first target operation task at least includes a first operation task to be executed by the virtual object model at the current moment, and a second operation task to be executed at the next moment after the current moment.

[0042] Step S202: load a target number of virtual object models in the first simulation scene, and load the operation path information of each virtual object model in the first simulation scene, and issue operation control instructions to each virtual object model via the scheduling system based on the operation path information, so that each virtual object model performs corresponding control operations according to the received operation control instructions.

[0043] Step S203, in response to executing the second operation task at the next moment, displaying a second simulation scene corresponding to the second operation task in the user interaction interface until each virtual object model completes the first target operation task.

[0044] exist Figure 2In the technical solution provided in the embodiment, in response to a first target operation task for a virtual object model issued from a cloud platform, a first simulation scene corresponding to the first operation task to be executed is displayed in a user interaction interface based on the first target operation task; the first target operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment of the current moment; a target number of virtual object models are loaded in the first simulation scene, and the operation path information of each virtual object model is loaded in the first simulation scene, and operation control instructions are issued to each virtual object model via a scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instructions; in response to executing the second operation task at the next moment, a second simulation scene corresponding to the second operation task is displayed in the user interaction interface until each virtual object model completes the first target operation task. On the one hand, after receiving the first target operation task issued by the cloud platform, the method divides the first target operation task into the first operation task to be executed at the current moment and the second operation task to be executed at the next moment, so that only the first simulation scene of the first operation task to be executed at the current moment needs to be displayed on the user interaction interface. Compared with the technical problems of high performance consumption and poor real-time performance in the real-time display of the simulation scene of the entire operation area in the prior art, the technical effect of reducing the performance consumption of the virtual scheduling test simulation system is achieved. On the other hand, the method only needs to load the first simulation scene of the first operation task to be executed at the current moment, with a small amount of data and less restrictions on hardware and network than the prior art, thereby reducing the adverse effects of the existing online simulation test methods being limited by hardware and precision, which causes a certain deviation between the test results and the actual test results, thereby affecting the technical problem of the accuracy of the simulation results, thereby achieving the technical effect of improving the accuracy of the simulation results.

[0045] The following will be combined with specific embodiments to Figure 2 The specific implementation methods of each step in the embodiment shown are described in detail:

[0046] In step S201, in response to a first target operation task for a virtual object model issued from a cloud platform, a first simulation scene corresponding to the first operation task to be executed is displayed in a user interaction interface based on the first target operation task.

[0047] The cloud platform is used to send the operation task to the virtual simulation platform, so that the virtual simulation platform loads multiple optional initial simulation scenarios corresponding to the operation task upon receiving the operation task. The initial simulation scenario is used to at least represent different environments in the same operation area, or different environments in different operation areas, or the same operation environment in different operation areas, and the embodiments of the present disclosure do not impose any restrictions on this.

[0048] The first target task at least includes the first task currently executed by the virtual object model and the second task to be executed at the next moment. The virtual object model is a controlled simulation object. Taking the production scene of a mining area as an example, the virtual object model is an unmanned vehicle.

[0049] For example, when the virtual simulation platform receives the first target operation task for the virtual object model issued by the cloud platform, the first simulation scene corresponding to the first operation task to be executed can be displayed in the user interaction interface. That is, the first simulation scene corresponding to the first operation task to be executed at the current moment is displayed in the user interaction interface.

[0050] For example, when the first target task is to control the unmanned vehicle in the mining production scene to transport materials from the loading area to the unloading area, the first task currently being executed may be to control the unmanned vehicle to load the materials to be transported in the loading area. The second task is to transport materials from the loading area to the unloading area, unload materials to be transported in the unloading area, etc.

[0051] In addition to the above embodiments, the working area associated with the first working task may also include the entire working area, and the first simulation scene corresponding to the first working task may include a simulation scene of the entire working area.

[0052] Among them, the entire operation area is the superposition of each operation area.

[0053] Of course, it is understandable that the work area associated with the second work task may also include the entire work area, or a portion of the work area, and the embodiments of the present disclosure do not impose any limitations on this.

[0054] It can be seen from the above embodiments that the first target operation task at least includes the first operation task currently executed by the virtual object model and the second operation task to be executed at the next moment. The first operation task currently executed can be an operation task executed for the entire operation area or an operation task executed for part of the operation area, and the user interaction interface only displays the first simulation scene corresponding to the first operation task currently executed. Compared with the simulation scene of the entire operation area displayed in real time in the related technical solution, the performance consumption of the equipment is reduced and the efficiency of the virtual simulation results is improved.

[0055] Before executing step S201, it is necessary to pre-build a simulation scene for each work area in the real work scene, so that the first simulation scene corresponding to the first work task and the second simulation scene corresponding to the second work task displayed on the virtual simulation platform can be exactly the same as the real work scene, so as to improve the reliability of the virtual simulation scheduling test results.

[0056] In an optional embodiment, scene data of a real working scene is acquired; based on the scene data of the real working scene, a simulation scene of each working area in the real working scene is pre-constructed.

[0057] Exemplarily, the virtual simulation platform can load the acquisition map to provide virtual background information displayed by the vehicle, that is, the simulation scene of each operating area.

[0058] In order to improve the efficiency of virtual scheduling simulation, the virtual simulation platform can pre-construct and store simulation scenes of each work area in the real work scene, so that in response to the first target work task for the virtual object model issued from the cloud platform, the first simulation scene corresponding to the first work task to be executed is displayed in the user interaction interface based on the work area related to the first target work task.

[0059] In step S202, a target number of virtual object models are loaded into the first simulation scene, and the operation path information of each virtual object model is loaded into the first simulation scene. Based on the operation path information, operation control instructions are issued to each virtual object model via the scheduling system, so that each virtual object model performs corresponding control operations according to the received operation control instructions.

[0060] Figure 3 A flowchart schematically showing one type of virtual object model control in this exemplary embodiment is shown in FIG. Figure 3 In an optional embodiment of the present disclosure, in the above step S202, the operation control instruction is sent to each virtual object model via the scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instruction, including the following steps S301-S303:

[0061] Step S301: The virtual simulation platform obtains real-time position information of each virtual object model in a first simulation scene based on a preset time threshold.

[0062] In order to improve the accuracy, the preset time threshold may be set to be relatively small, so as to obtain the real-time position information of each virtual object model in the first simulation scene in real time.

[0063] Step S302: Send the real-time position information of each virtual object model to the scheduling system, so that the scheduling system determines whether each virtual object model collides according to the real-time position information and operation path information of each virtual object model, and issues operation control instructions to each virtual object model based on the judgment result.

[0064] The judgment result may include mutual collision or non-collision. For example, taking the unmanned vehicle as an example, when the judgment result is mutual collision, an operation control instruction may be issued to one of the virtual object models to stop driving until no mutual collision is detected; conversely, if the judgment result is non-collision, an operation control instruction may be issued to each virtual object model to allow it to continue driving, or no operation control instruction is required. After receiving the control instruction from the dispatching system, the virtual object model will stop autonomously or start to continue driving.

[0065] Through the above embodiment, the real-time position information of each virtual object model in the first simulation scene is obtained in real time, and it is judged whether each virtual object model collides, thereby improving the safety and logic of the scheduling simulation.

[0066] In step S203, in response to executing the second operation task at the next moment, a second simulation scene corresponding to the second operation task is displayed in the user interaction interface until each virtual object model completes the first target operation task.

[0067] Among them, the next moment, that is, after the corresponding task is completed at the current moment, the work task to be completed will be continued.

[0068] Exemplarily, in response to executing a second work task at the next moment, a second simulation scene corresponding to the second work task is displayed in the user interaction interface, and loading of a target number of virtual object models in the second simulation scene continues, and work path information of each virtual object model is loaded in the second simulation scene. Based on the work path information, operation control instructions are issued to each virtual object model via the scheduling system, so that each virtual object model performs corresponding control operations according to the received operation control instructions until each virtual object model completes the first target work task.

[0069] Furthermore, in an optional embodiment of the present disclosure, in response to a second target operation task for a virtual object model issued from a cloud platform, a target virtual object model and a third simulation scene associated with the second target operation task are determined; and the operation path information of the target virtual object model is updated in the third simulation scene until each virtual object model completes the second target operation task.

[0070] The third simulation scene may be the same as or different from the simulation scene corresponding to the first target operation task. The target virtual object model is a virtual object model associated with the second target operation task. For example, the second target operation task for the virtual object model issued by the cloud platform includes virtual object models A, B, and C; if the second target operation task only updates the virtual object model A, and the virtual object models B and C remain unchanged, then only the operation path information of the target virtual object model is updated in the third simulation scene.

[0071] Taking unmanned vehicles as an example, each unmanned vehicle receives information sent by the cloud platform in real time, that is, it receives new task information sent by the cloud in real time during operation. The unmanned vehicle independently determines whether the task update is related to the vehicle. If it is related, the vehicle automatically updates the task; if the task update is not related, the task will not be updated.

[0072] Through this embodiment, when responding to the second target job task for the virtual object model issued from the cloud platform, only the job path information of the target virtual object model where the task update occurs can be updated. Compared with updating the task for all virtual object models, the performance consumption can be greatly reduced, thereby improving the performance of the virtual scheduling simulation.

[0073] On the basis of the above embodiments, in an optional embodiment of the present disclosure, multiple optional target job tasks are provided in the user interaction interface; in response to a selection operation for a second target job task among the multiple optional target job tasks, a job task request for the second target job task is sent to the cloud platform, so that the cloud platform sends the second target job task for the virtual object model to the virtual simulation platform based on the job task request.

[0074] Illustratively, in the above embodiment, the user can select the scenario and task that needs to be scheduled for testing from a plurality of optional target job tasks provided in the user interaction interface.

[0075] Figure 4 A schematic diagram schematically shows one of the user interaction interfaces of this exemplary embodiment; Figure 4 As shown, users can select parameters such as the test area, intersection, and reversing distance during unloading, so as to perform scheduling simulation tests based on user needs and improve flexibility.

[0076] Figure 5 A schematic diagram schematically shows another user interaction interface in this exemplary embodiment; Figure 5 It can be seen that the left area of ​​the user interaction interface displays the current virtual simulation scene, and the virtual simulation scene includes the operation area ( Figure 5 The shaded part in the figure) and the operation path information of each virtual simulation object ( Figure 5 ).

[0077] It can be understood that in addition to displaying the current virtual simulation scene, the work area and work path information in the current virtual simulation scene in real time in the user interaction interface, the driving speed (Speed) of the virtual object model, the current position of each virtual object model, the work area and other information can also be synchronized, and editing controls can also be provided to users to enable users to change the driving speed (Speed), work area, etc. of the virtual object model.

[0078] In order to implement the above-mentioned virtual scheduling test simulation method, a virtual scheduling test simulation device is provided in one embodiment of the present disclosure. Figure 6 A schematic architecture diagram of a virtual scheduling test simulation device is schematically shown.

[0079] The virtual scheduling test simulation device 600 is applied to a virtual simulation platform for scheduling test of a virtual object model, and provides a user interaction interface through the virtual simulation platform. The device includes: a first simulation scene display module 601 , a model loading module 602 and a second simulation scene display module 603 .

[0080] The first simulation scene display module 601 is used to respond to the first target operation task for the virtual object model issued from the cloud platform, and display the first simulation scene corresponding to the first operation task to be executed in the user interaction interface based on the first target operation task; the first target operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment of the current moment; the model loading module 602 is used to load a target number of virtual object models in the first simulation scene, and load the operation path information of each virtual object model in the first simulation scene, and issue operation control instructions to each virtual object model via the scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instructions; the second simulation scene display module 603 is used to respond to the execution of the second operation task at the next moment, and display the second simulation scene corresponding to the second operation task in the user interaction interface until each virtual object model completes the first target operation task.

[0081] In an optional embodiment of the present disclosure, the model loading module 602 is specifically used to obtain the real-time position information of each virtual object model in the first simulation scene based on a preset time threshold; send the real-time position information of each virtual object model to the scheduling system, so that the scheduling system determines whether each virtual object model collides according to the real-time position information and operation path information of each virtual object model, and issues operation control instructions to each virtual object model based on the judgment result.

[0082] In an optional embodiment of the present disclosure, the virtual scheduling test simulation device 600 may also include a data acquisition module and a scene construction module, wherein the data acquisition module is used to acquire scene data of the real operation scene; the scene construction module is used to pre-construct simulation scenes of each operation area in the real operation scene based on the scene data of the real operation scene.

[0083] In an optional embodiment of the present disclosure, the work area associated with the first work task includes the entire work area, the entire work area is the superposition of each work area, and the first simulation scene corresponding to the first work task includes the simulation scene of the entire work area.

[0084] In an optional embodiment of the present disclosure, the virtual scheduling test simulation device 600 may also include a third simulation scene display module and a path update module. The third simulation scene display module is used to respond to the second target operation task for the virtual object model issued from the cloud platform, and determine the target virtual object model and the third simulation scene associated with the second target operation task; the path update module is used to update the operation path information of the target virtual object model in the third simulation scene until each virtual object model completes the second target operation task.

[0085] In an optional embodiment of the present disclosure, the third simulation scene display module is used to provide multiple optional target operation tasks in the user interaction interface; in response to a selection operation for a second target operation task among the multiple optional target operation tasks, a operation task request for the second target operation task is sent to the cloud platform, so that the cloud platform sends the second target operation task for the virtual object model to the virtual simulation platform based on the operation task request.

[0086] The virtual scheduling test simulation device 600 provided in the embodiment of the present disclosure can execute the technical solution of the virtual scheduling test simulation method in any of the above-mentioned embodiments. Its implementation principle and beneficial effects are similar to the implementation principle and beneficial effects of the virtual scheduling test simulation method. Please refer to the implementation principle and beneficial effects of the virtual scheduling test simulation method, which will not be repeated here.

[0087] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of the present specification.

[0088] The program product for implementing the above method according to an embodiment of the present invention may adopt a portable compact disc read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, an apparatus or a device.

[0089] The program product may adopt any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0090] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0091] The program code contained on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0092] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., via the Internet using an Internet Service Provider).

[0093] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0094] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as a "circuit", "module" or "system".

[0095] Refer to the following Figure 7 An electronic device 700 according to this embodiment of the present invention will be described. Figure 7 The electronic device 700 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0096] like Figure 7 As shown, the electronic device 700 is in the form of a general computing device. The components of the electronic device 700 may include, but are not limited to: the at least one processing unit 710, the at least one storage unit 720, a bus 730 connecting different system components (including the storage unit 720 and the processing unit 710), and a display unit 740.

[0097] The storage unit stores program codes, which can be executed by the processing unit 710, so that the processing unit 710 performs the steps of various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification. For example, the processing unit 710 can perform the following steps: Figure 2 Steps S201 to S203 shown in FIG.

[0098] The storage unit 720 may include a readable medium in the form of a volatile storage unit, such as a random access storage unit (RAM) 7201 and / or a cache storage unit 7202 , and may further include a read-only storage unit (ROM) 7203 .

[0099] The storage unit 720 may also include a program / utility 7204 having a set (at least one) of program modules 7205, such program modules 7205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0100] Bus 730 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0101] The electronic device 700 may also communicate with one or more external devices 1000 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may also communicate with one or more devices that enable a user to interact with the electronic device 700, and / or communicate with any device that enables the electronic device 700 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed via an input / output (I / O) interface 750. Furthermore, the electronic device 700 may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter 760. As shown, the network adapter 760 communicates with other modules of the electronic device 700 via a bus 730. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 700, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, disk arrays (Redundant Arrays of Independent Disks, RAID) systems, tape drives, and data backup storage systems.

[0102] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0103] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0104] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0105] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.

[0106] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A virtual scheduling test simulation method, characterized in that: A virtual simulation platform for scheduling test of a virtual object model is provided, wherein a user interaction interface is provided through the virtual simulation platform, and the method comprises: In response to a first target operation task for the virtual object model issued from the cloud platform, a first simulation scene corresponding to the first operation task to be executed is displayed in the user interaction interface based on the first target operation task; the first target operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment after the current moment; Loading a target number of virtual object models in the first simulation scene, and loading operation path information of each virtual object model in the first simulation scene, and issuing operation control instructions to each virtual object model via a scheduling system based on the operation path information, so that each virtual object model performs a corresponding control operation according to the received operation control instructions; In response to executing the second operation task at the next moment, a second simulation scene corresponding to the second operation task is displayed in the user interaction interface until each virtual object model completes the first target operation task.

2. The method according to claim 1, characterized in that The sending of operation control instructions to each virtual object model via the scheduling system based on the operation path information so that each virtual object model performs a corresponding control operation according to the received operation control instruction includes: Acquire real-time position information of each virtual object model in the first simulation scene based on a preset time threshold; The real-time position information of each virtual object model is sent to the scheduling system, so that the scheduling system determines whether the virtual object models collide according to the real-time position information and operation path information of each virtual object model, and issues operation control instructions to each virtual object model based on the judgment result.

3. The method according to claim 1, characterized in that The method further comprises: Obtain scene data of real working scenes; Based on the scene data of the real operation scene, a simulation scene of each operation area in the real operation scene is pre-constructed.

4. The method according to claim 3, characterized in that The work area associated with the first work task includes the entire work area, the entire work area is the superposition of the various work areas, and the first simulation scene corresponding to the first work task includes the simulation scene of the entire work area.

5. The method according to claim 1, characterized in that The method further comprises: In response to a second target operation task for the virtual object model issued from the cloud platform, determining a target virtual object model and a third simulation scene associated with the second target operation task; In the third simulation scene, the operation path information of the target virtual object model is updated until each virtual object model completes the second target operation task.

6. The method according to claim 5, characterized in that The step of determining, in response to a second target operation task for the virtual object model issued from the cloud platform, a target virtual object model and a third simulation scenario associated with the second target operation task comprises: Providing a plurality of optional target operation tasks in the user interaction interface; In response to a selection operation for a second target job task among the multiple optional target job tasks, a job task request for the second target job task is sent to the cloud platform, so that the cloud platform sends the second target job task for the virtual object model to the virtual simulation platform based on the job task request.

7. A virtual scheduling test simulation system, characterized in that: The system includes a cloud platform, a scheduling system for a virtual object model, a virtual simulation platform in the scheduling system, and the virtual simulation platform is used for scheduling testing of the virtual object model and providing a user interaction interface. The system includes: The cloud platform is used to issue a first target operation task for the virtual object model to the virtual simulation platform; the first target operation task at least includes a first operation task executed by the virtual object model at a current moment, and a second operation task to be executed at a next moment after the current moment; The virtual simulation platform in the scheduling system is used to respond to the first target operation task for the virtual object model issued from the cloud platform, and display the first simulation scene corresponding to the first operation task to be executed in the user interaction interface based on the first target operation task; the operation task at least includes the first operation task executed by the virtual object model at the current moment, and the second operation task to be executed at the next moment after the current moment; load a target number of virtual object models in the first simulation scene, and load the operation path information of each virtual object model in the first simulation scene, and issue operation control instructions to each virtual object model via the scheduling system based on the operation path information, so that each virtual object model performs the corresponding control operation according to the received operation control instructions; in response to executing the second operation task at the next moment, display the second simulation scene corresponding to the second operation task in the user interaction interface until each virtual object model completes the first target operation task; The scheduling system is used to issue operation control instructions to each virtual object model based on the operation path information.

8. A virtual scheduling test simulation device, characterized in that: A virtual simulation platform for scheduling test of a virtual object model, providing a user interaction interface through the virtual simulation platform, the device comprising: A first simulation scene display module is used to respond to a first target operation task for the virtual object model issued from the cloud platform, and display a first simulation scene corresponding to a first operation task to be executed in the user interaction interface based on the first target operation task; the first target operation task at least includes a first operation task to be executed by the virtual object model at the current moment, and a second operation task to be executed at a next moment after the current moment; a model loading module, configured to load a target number of virtual object models in the first simulation scene, load operation path information of each virtual object model in the first simulation scene, and issue operation control instructions to each virtual object model via a scheduling system based on the operation path information, so that each virtual object model performs a corresponding control operation according to the received operation control instructions; The second simulation scene display module is used to display a second simulation scene corresponding to the second operation task in the user interaction interface in response to executing the second operation task at the next moment, until each virtual object model completes the first target operation task.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the virtual scheduling test simulation method according to any one of claims 1 to 6 is implemented.

10. An electronic device, characterized in that: include: processor; as well as A memory, configured to store executable instructions of the processor; Wherein, the processor is configured to execute the virtual scheduling test simulation method according to any one of claims 1 to 6 by executing the executable instructions.

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