Self-driving Simulation Rendering via Tree Model Cropping
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Solution Overview
Problem
Existing self-driving simulation software inefficiently renders scenes, wasting resources by rendering unnecessary information and struggling with multi-sensor simulations due to low rendering efficiency and underutilization of GPU resources.
Innovation Solution
The method employs a tree model for efficient cropping of the effective area, dividing scene simulation rendering into two stages, and using a multi-thread parallel mode to allocate resources effectively, ensuring only valid information is rendered and maximizing resource utilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of information
If all objects within a certain distance around the present vehicle are acquired for rendering, then complete scene information is obtained, but resource waste occurs due to rendering unnecessary information
Solution Approach 1:
The patent extracts and processes only the necessary effective area from the complete scene using a tree model. By representing the scene as a hierarchical tree structure and identifying the effective area corresponding to sensor positions and directions, the system extracts only the relevant portion of the scene for rendering, eliminating unnecessary rendering operations while preserving all required information.
2Adaptability or versatility
If multiple viewports are rendered simultaneously for multi-sensor simulation, then all sensor data is captured, but rendering efficiency decreases and GPU resources are underutilized
Solution Approach 1:
The patent segments the rendering process into two distinct stages: a first stage that processes common effective area information shared by multiple sensors, and a second stage that handles sensor-specific rendering. This segmentation allows the system to render the common portion once and reuse it across multiple viewports, significantly improving rendering efficiency and GPU resource utilization while maintaining full multi-sensor simulation capability.
3Device complexity
If scene rendering is performed without dividing into stages, then the process is simple, but rendering speed is slow and real-time simulation cannot be achieved
Solution Approach 1:
The patent implements preliminary action by performing the effective area cropping operation in the first stage before the actual sensor-specific rendering in the second stage. By pre-processing and identifying the effective area using the tree model in advance, the system prepares optimized data structures and reduces the computational burden of the subsequent rendering stage, thereby achieving real-time rendering speed while maintaining manageable process complexity through clear stage separation.
Data Source
AI summary
A self-driving simulation rendering method and apparatus, a computer device, and a readable storage medium wherein the method includes: loading a scene file, performing scene modeling based on a tree model, and establishing a static spatial index (S1); setting a dynamic traffic flow to generate a dynamic scene, and setting a position and direction of a sensor (S2); and creating a first thread and a second thread, scheduling the first thread to crop each frame of the dynamic scene based on the tree model, and scheduling the second thread to render, based on the position and direction of the sensor, each frame cropped by the first thread and output the rendered frame (S3). Modeling and efficient cropping of an effective area are carried out by means of a tree model, which ensures that only valid information is rendered, thereby reducing resource waste.