CN116246031A - Simulation three-dimensional scene construction method, system, electronic equipment and storage medium - Google Patents
Simulation three-dimensional scene construction method, system, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides a method, a system, electronic equipment and a storage medium for constructing a simulated three-dimensional scene, wherein the system comprises the following components: the system comprises a data acquisition module, a road network construction module, a periphery construction module, a coordinate conversion module and a scene rendering module. According to the invention, the three-dimensional scene model with the road network is constructed based on the high-precision map OpenDRIVE file, the three-dimensional model around the road is constructed in the three-dimensional scene model, and then the three-dimensional scene model is converted into the OpenDRIVE file with the recorded model coordinates, so that the three-dimensional scene can be quickly constructed based on the high-precision map OpenDRIVE file and the OpenDRIVE file with the recorded model coordinates, the construction work of a simulation three-dimensional scene basic model is greatly improved, and the test flow of an automatic driving simulation test is simplified.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a simulation three-dimensional scene construction method, a system, electronic equipment and a storage medium.
Background
The automatic driving simulation is the application of computer simulation technology in the field of automobiles, digitally restores the application scene of automatic driving in a mathematical modeling mode, establishes a system model which is as close to the real world as possible, and can achieve the purpose of testing and verifying an automatic driving system and algorithm through analysis and research of simulation tests. The automatic driving simulation software applied in the industry at present is Baihua ziput, wuhua eight-door, panoSim, preScan, carmaker, 51VR, VTD, CARLA and the like.
VTD (Virtual Test Drive) is a complete modular simulation tool developed by the company VIRES in germany for driving assistance systems, active safety and automatic driving. The method runs on a Linux platform, and has the functions of road environment modeling, traffic scene modeling, weather and environment simulation, simple and physical real sensor simulation, high-precision real-time picture rendering and the like. Along with the high-speed development of computer technology, the automatic driving simulation test needs to be completed quickly along with the rapid iterative updating of the automatic driving requirement, and the construction speed of the simulation three-dimensional scene needs to be further improved, so how to further improve the construction speed of the automatic driving simulation three-dimensional scene is a problem to be solved.
Disclosure of Invention
Aiming at the technical problems in the prior art, the invention provides a method, a system, electronic equipment and a storage medium for constructing a simulated three-dimensional scene, which are used for solving the problem of how to further improve the construction speed of an automatic driving simulated three-dimensional scene.
According to a first aspect of the present invention, there is provided a simulated three-dimensional scene building system comprising: : the system comprises a data acquisition module, a road network construction module, a peripheral construction module, a coordinate conversion module and a scene rendering module;
the data acquisition module is used for acquiring a high-precision map OpenDRIVE file compiled based on the high-precision map data;
the road network construction module is used for generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model;
the periphery building module is used for building a three-dimensional model of the periphery of the road in the three-dimensional scene model;
the coordinate conversion module is used for converting the coordinates of the road periphery three-dimensional model into an OpenDRIVE file for recording the coordinates of the model;
the scene rendering module is used for constructing a three-dimensional scene based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
On the basis of the technical scheme, the invention can also make the following improvements.
Preferably, the high-precision map OpenDRIVE file includes: road geometry, along-line characteristics, traffic signs, and road infrastructure.
Preferably, the generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, where the three-dimensional scene model has a road network, includes:
and constructing a road network structure based on the road geometry and the lane line attribute in the high-precision map OpenDRIVE file, and constructing a three-dimensional scene model based on the road network structure.
Preferably, the road perimeter is: a road side isolation facility three-dimensional model, a building three-dimensional model, a street lamp three-dimensional model and a traffic sign three-dimensional model.
Preferably, the simulated three-dimensional scene construction system further comprises: a model storage module;
the model storage module is used for storing the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
Preferably, the simulated three-dimensional scene construction system further comprises: a scene rendering module;
the scene rendering module is used for performing three-dimensional scene rendering based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
According to a second aspect of the present invention, there is provided a simulated three-dimensional scene construction method comprising:
acquiring a high-precision map OpenDRIVE file compiled based on high-precision map data;
generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model;
constructing a three-dimensional model of the periphery of the road in the three-dimensional scene model;
based on the coordinates of the road periphery three-dimensional model, converting the coordinates into an OpenDRIVE file for recording the coordinates of the model;
and carrying out three-dimensional scene construction based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the simulated three-dimensional scene construction method of the second aspect described above when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer-management-class program which, when executed by a processor, implements the steps of the simulated three-dimensional scene construction method in the above second aspect.
The invention provides a method, a system, electronic equipment and a storage medium for constructing a simulated three-dimensional scene, wherein the system comprises the following components: the system comprises a data acquisition module, a road network construction module, a peripheral construction module, a coordinate conversion module and a scene rendering module; the data acquisition module is used for acquiring a high-precision map OpenDRIVE file compiled based on the high-precision map data; the road network construction module is used for generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model; the periphery building module is used for building a three-dimensional model of the periphery of the road in the three-dimensional scene model; the coordinate conversion module is used for converting the coordinates of the road periphery three-dimensional model into an OpenDRIVE file for recording the coordinates of the model; the scene rendering module is used for constructing a three-dimensional scene based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates. According to the invention, the three-dimensional scene model with the road network is constructed based on the high-precision map OpenDRIVE file, the three-dimensional model around the road is constructed in the three-dimensional scene model, and then the three-dimensional scene model is converted into the OpenDRIVE file with the recorded model coordinates, so that the three-dimensional scene can be quickly constructed based on the high-precision map OpenDRIVE file and the OpenDRIVE file with the recorded model coordinates, the construction work of a simulation three-dimensional scene basic model is greatly improved, and the test flow of an automatic driving simulation test is simplified.
Drawings
FIG. 1 is a schematic diagram of a system for constructing a simulated three-dimensional scene;
FIG. 2 is a full flow chart of the simulated three-dimensional scene construction provided by the invention;
FIG. 3 is a flow chart of a method for constructing a simulated three-dimensional scene;
fig. 4 is a schematic hardware structure of one possible electronic device according to the present invention;
fig. 5 is a schematic hardware structure of a possible computer readable storage medium according to the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
Fig. 1 is a schematic structural diagram of a system for constructing a simulated three-dimensional scene according to the present invention, where, as shown in fig. 1, the system includes: the system comprises a data acquisition module, a road network construction module, a periphery construction module, a coordinate conversion module and a scene rendering module.
The data acquisition module is used for acquiring a high-precision map OpenDRIVE file compiled based on the high-precision map data; the road network construction module is used for generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model; the periphery building module is used for building a three-dimensional model of the periphery of the road in the three-dimensional scene model; the coordinate conversion module is used for converting the coordinates of the road periphery three-dimensional model into an OpenDRIVE file for recording the coordinates of the model; the scene rendering module is used for constructing a three-dimensional scene based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
It should be noted that, the above-mentioned high-precision map OpenDRIVE file may be obtained by compiling high-precision map data by a third-party OD compiling tool, where the above-mentioned OpenDRIVE file describes a road: road geometry, along-line characteristics, traffic signs and road infrastructure, for example: lanes, lights, etc., which are not limited in this embodiment.
It will be appreciated that the road network construction module may be a ROD (Road Network Design ), and the ROD automatically constructs a road structure in the ROD by reading the road geometry and the lane line attribute recorded in the OD data, and converts the road structure into a simulated three-dimensional scene and outputs the simulated three-dimensional scene in OSGB format, thereby obtaining a three-dimensional scene model, where only the road and the lane line model are in the three-dimensional scene model.
It should be understood that the OSGB format is a three-dimensional model data format, which is an own format of the Open Scene Graph framework, and is binary data. OpenSceneGraph is an open source, cross-platform, high-performance 3D graphics toolkit, written entirely in standard C++ and OpenGL, which can be used to perform three-dimensional simulations.
It is further understood that the perimeter building module may include a DCC (Digital Content Creation, digital content authoring) module, and the three-dimensional scene model file may further refine the three-dimensional scene model in the DCC module, including making a three-dimensional model of the road perimeter based thereon, for example: road side isolation facility three-dimensional model, building three-dimensional model, street lamp three-dimensional model, traffic sign three-dimensional model and the like.
It should also be understood that the above-mentioned construction of the three-dimensional model based on the high-precision map OpenDRIVE file and the OpenDRIVE file recording the coordinates of the model may be that the OpenDRIVE file recording the coordinates of the model is imported into the ROD together with the OpenDRIVE file compiled from the high-precision map data, and the road periphery three-dimensional model is put into the corresponding folder of the VTD (Virtual Test Drive, intelligent driving simulation software). And rendering a simulated three-dimensional scene result file.
As an embodiment, the simulated three-dimensional scene construction system further includes: a model storage module; the model storage module is used for storing the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
As an embodiment, the simulated three-dimensional scene construction system further includes: a scene rendering module; the scene rendering module is used for performing three-dimensional scene rendering based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
In this embodiment, the main work of constructing the VTD simulation three-dimensional scene is transferred from the ROD to the specialized DCC modeling tool, and the model position information is recorded and then converted into the OpenDRIVE format and then transmitted back to the ROD, and finally the ROD is used to make no modification on the directly generated OSGB scene model, so that the manufacturing flow of the simulation three-dimensional scene model is faster and more controllable.
It can be appreciated that based on the defects in the background technology, the embodiment of the invention provides a simulation three-dimensional scene construction system. The system comprises: the system comprises a data acquisition module, a road network construction module, a peripheral construction module, a coordinate conversion module and a scene rendering module; the data acquisition module is used for acquiring a high-precision map OpenDRIVE file compiled based on the high-precision map data; the road network construction module is used for generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model; the periphery building module is used for building a three-dimensional model of the periphery of the road in the three-dimensional scene model; the coordinate conversion module is used for converting the coordinates of the road periphery three-dimensional model into an OpenDRIVE file for recording the coordinates of the model; the scene rendering module is used for constructing a three-dimensional scene based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates. According to the invention, the three-dimensional scene model with the road network is constructed based on the high-precision map OpenDRIVE file, the three-dimensional model around the road is constructed in the three-dimensional scene model, and then the three-dimensional scene model is converted into the OpenDRIVE file with the recorded model coordinates, so that the three-dimensional scene can be quickly constructed based on the high-precision map OpenDRIVE file and the OpenDRIVE file with the recorded model coordinates, the construction work of a simulation three-dimensional scene basic model is greatly improved, and the test flow of an automatic driving simulation test is simplified.
In one possible application scenario, referring to fig. 2, fig. 2 is a full flowchart of the simulation three-dimensional scenario construction provided by the present invention; in fig. 2, an OpenDRIVE file and SHP Files corresponding to a high-precision map are obtained from a database EDF, where the SHP Files include traffic facilities, for example: the method comprises the steps of simultaneously reading information such as traffic sign plates, signal lamps and library positions by a VTD-ROD, automatically constructing a road structure in the ROD by reading road geometric shapes and lane line attributes recorded in OD data, converting the road structure into a simulated three-dimensional scene, outputting an OSGB# 1 file in an OSGB format, inputting the OSGB# 1 file and SHP Files into 3DMAX to perfect the simulated three-dimensional scene, obtaining a traffic facility model file set, further obtaining position configuration information (in an XML format) of each traffic facility model, combining the position configuration information with the simulated three-dimensional scene through a VTD-ROD to obtain an OSGB#2 file, and completing construction of a three-dimensional scene model in the VTD based on the OSGB#2 file and the OpenDRIVE file.
In this embodiment, the work of constructing the three-dimensional scene model by using the conventional VTD is partially transferred to a professional DCC modeling tool, and the model position information is recorded and converted into the OpenDRIVE format to be imported into the ROD, and finally the ROD is directly generated into the OSGB scene model without modification, so that the manufacturing flow of the simulated three-dimensional scene model is faster and more controllable.
Referring to fig. 3, fig. 3 is a flowchart of a method for constructing a simulated three-dimensional scene according to an embodiment of the present invention, as shown in fig. 3, the method includes:
step S100: acquiring a high-precision map OpenDRIVE file compiled based on high-precision map data;
it should be noted that, the execution body of the method of this embodiment may be a computer terminal device having functions of data processing, network communication, and program running, for example: computers, tablet computers, etc.; the present embodiment is not limited to this, and may be a server device having the same similar function, or may be a cloud server having a similar function. For ease of understanding, this embodiment and the following embodiments will be described by taking a server device as an example.
Step S200: generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model;
step S300: constructing a three-dimensional model of the periphery of the road in the three-dimensional scene model;
step S400: based on the coordinates of the road periphery three-dimensional model, converting the coordinates into an OpenDRIVE file for recording the coordinates of the model;
step S500: and carrying out three-dimensional scene construction based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
It can be understood that the method for constructing a simulated three-dimensional scene provided by the present invention corresponds to the system for constructing a simulated three-dimensional scene provided by the foregoing embodiments, and relevant technical features of the method for constructing a simulated three-dimensional scene may refer to relevant technical features of the system for constructing a simulated three-dimensional scene, which are not described herein again.
Referring to fig. 4, fig. 4 is a schematic diagram of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 4, an embodiment of the present invention provides an electronic device including a memory 1310, a processor 1320, and a computer program 1311 stored on the memory 1310 and executable on the processor 1320, the processor 1320 implementing the following steps when executing the computer program 1311:
acquiring a high-precision map OpenDRIVE file compiled based on high-precision map data; generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model; constructing a three-dimensional model around a road in the three-dimensional scene model; based on the coordinates of the three-dimensional model around the road, converting the coordinates into an OpenDRIVE file for recording the coordinates of the model; and carrying out three-dimensional scene construction based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of a computer readable storage medium according to the present invention. As shown in fig. 5, the present embodiment provides a computer-readable storage medium 1400 having stored thereon a computer program 1411, which computer program 1411, when executed by a processor, performs the steps of:
acquiring a high-precision map OpenDRIVE file compiled based on high-precision map data; generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model; constructing a three-dimensional model around a road in the three-dimensional scene model; based on the coordinates of the three-dimensional model around the road, converting the coordinates into an OpenDRIVE file for recording the coordinates of the model; and carrying out three-dimensional scene construction based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
The embodiment of the invention provides a method, a system and a storage medium for constructing a simulated three-dimensional scene, wherein the system comprises the following steps: the system comprises a data acquisition module, a road network construction module, a peripheral construction module, a coordinate conversion module and a scene rendering module; the data acquisition module is used for acquiring a high-precision map OpenDRIVE file compiled based on the high-precision map data; the road network construction module is used for generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model; the periphery building module is used for building a three-dimensional model of the periphery of the road in the three-dimensional scene model; the coordinate conversion module is used for converting the coordinates of the road periphery three-dimensional model into an OpenDRIVE file for recording the coordinates of the model; the scene rendering module is used for constructing a three-dimensional scene based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates. According to the invention, the three-dimensional scene model with the road network is constructed based on the high-precision map OpenDRIVE file, the three-dimensional model around the road is constructed in the three-dimensional scene model, and then the three-dimensional scene model is converted into the OpenDRIVE file with the recorded model coordinates, so that the three-dimensional scene can be quickly constructed based on the high-precision map OpenDRIVE file and the OpenDRIVE file with the recorded model coordinates, the construction work of a simulation three-dimensional scene basic model is greatly improved, and the test flow of an automatic driving simulation test is simplified.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (9)
1. A simulated three-dimensional scene building system, the system comprising: the system comprises a data acquisition module, a road network construction module, a peripheral construction module, a coordinate conversion module and a scene rendering module;
the data acquisition module is used for acquiring a high-precision map OpenDRIVE file compiled based on the high-precision map data;
the road network construction module is used for generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model;
the periphery building module is used for building a three-dimensional model of the periphery of the road in the three-dimensional scene model;
the coordinate conversion module is used for converting the coordinates of the road periphery three-dimensional model into an OpenDRIVE file for recording the coordinates of the model;
the scene rendering module is used for constructing a three-dimensional scene based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
2. The simulated three-dimensional scene building system of claim 1, wherein said high-precision map OpenDRIVE file comprises: road geometry, along-line characteristics, traffic signs, and road infrastructure.
3. The simulated three-dimensional scene building system of claim 1, wherein said generating a three-dimensional scene model based on said high-precision map OpenDRIVE file, said three-dimensional scene model having road networks therein, comprises:
and constructing a road network structure based on the road geometry and the lane line attribute in the high-precision map OpenDRIVE file, and constructing a three-dimensional scene model based on the road network structure.
4. The simulated three-dimensional scene building system of claim 1, wherein said roadway perimeter is: a road side isolation facility three-dimensional model, a building three-dimensional model, a street lamp three-dimensional model and a traffic sign three-dimensional model.
5. The simulated three-dimensional scene building system of claim 1, further comprising: a model storage module;
the model storage module is used for storing the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
6. The simulated three-dimensional scene building system of claim 1, further comprising: a scene rendering module;
the scene rendering module is used for performing three-dimensional scene rendering based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
7. The method for constructing the simulated three-dimensional scene is characterized by comprising the following steps of:
acquiring a high-precision map OpenDRIVE file compiled based on high-precision map data;
generating a three-dimensional scene model based on the high-precision map OpenDRIVE file, wherein a road network is arranged in the three-dimensional scene model;
constructing a three-dimensional model of the periphery of the road in the three-dimensional scene model;
based on the coordinates of the road periphery three-dimensional model, converting the coordinates into an OpenDRIVE file for recording the coordinates of the model;
and carrying out three-dimensional scene construction based on the high-precision map OpenDRIVE file and the OpenDRIVE file for recording the model coordinates.
8. An electronic device comprising a memory, a processor configured to implement the steps of the simulated three-dimensional scene construction method of claim when executing a computer management class program stored in the memory.
9. A computer-readable storage medium, having stored thereon a computer-management-class program which, when executed by a processor, implements the steps of the simulated three-dimensional scene construction method of claim 7.
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