CN115206122A

CN115206122A - Track display method and device, storage medium and computer equipment

Info

Publication number: CN115206122A
Application number: CN202210886961.1A
Authority: CN
Inventors: 梁植源; 王亚亮; 车春回
Original assignee: Guangzhou Weride Technology Co Ltd
Current assignee: Guangzhou Weride Technology Co Ltd
Priority date: 2022-07-26
Filing date: 2022-07-26
Publication date: 2022-10-18
Anticipated expiration: 2042-07-26
Also published as: CN115206122B

Abstract

The application provides a track display method, a track display device, a storage medium and a computer device. If a selection instruction for selecting at least one predicted planned track displayed on the pause interface is received, the playing device may use the track data of the predicted planned track selected by the selection instruction in the first track data as target data, and mark the target data, so as to keep the target data from being deleted in the local cache. Under the condition of receiving a track playing instruction, if the predicted planned track corresponding to the target data needs to be played at the current moment, even if the current playing moment is not the pause moment, the playing equipment can play the predicted planned track obtained by taking the pause moment as the starting moment of the predicted planning.

Description

Track display method and device, storage medium and computer equipment

Technical Field

The present application relates to the field of automatic driving technologies, and in particular, to a trajectory display method and apparatus, a storage medium, and a computer device.

Background

In the field of automatic driving, a vehicle equipped with an automatic driving algorithm plans a driving track of the vehicle at each time and predicts a running track of an obstacle at each time during running. In other words, for each time in the driving process, the automatic driving algorithm takes the time as the starting time of the prediction planning, and performs trajectory planning and trajectory prediction for the own vehicle and the obstacle respectively to obtain one or more own vehicle planned trajectories and one or more obstacle predicted planned trajectories.

In order to facilitate an engineer to know an actual driving scene of a vehicle during a drive test and an algorithm output of an automatic driving algorithm during the drive test, in the prior art, track data at a current playing time can be acquired by using a playing device, and a visual interface is rendered according to the track data at the current playing time, so that the visual interface can display predicted planned tracks of the vehicle and an obstacle, and further track display is realized. However, the inventor finds that, in the process of implementing track display, the prior art can only display the predicted planning track obtained by using the current playing time as the starting time of the predicted planning, which is not beneficial to promoting the predicted planning algorithm.

Disclosure of Invention

The present application aims to solve at least one of the above technical drawbacks, and in particular, to solve the technical drawback of the prior art that only a predicted planned trajectory obtained by using a current playing time as a starting time of a predicted plan can be displayed.

The embodiment of the application provides a track display method, which is applied to playing equipment, wherein the playing equipment is provided with a local cache, and the track display method comprises the following steps:

rendering a pause interface according to the first track data cached in the local cache, so that the pause interface displays each predicted planned track of at least one movable object at the pause moment; the first track data is track data at the pause moment;

marking target data in the first trajectory data in response to a selection instruction for selecting at least one predicted planned trajectory displayed by the pause interface, so as to keep the target data in the local cache when updating cache data of the local cache; the target data comprises trajectory data of each predicted planned trajectory selected by the selection instruction;

determining the track position identification of each track position required to be displayed at the current playing moment in response to the track playing instruction;

for each track position mark, if the track position mark is a track mark of a predicted planning track corresponding to marked track data, determining target display data corresponding to the track position mark according to the target data, otherwise, determining the target display data corresponding to the track position mark according to non-target data cached in the local cache;

and rendering the display interface of the current playing time according to each target display data.

In one embodiment, the trajectory data of each predicted planned trajectory selected by the selection instruction includes predicted planned positions of the movable object corresponding to the predicted planned trajectory at a plurality of times, and actual contour data of the movable object corresponding to the predicted planned trajectory at the pause time;

the step of determining target display data corresponding to the track position identifier according to the target data includes:

extracting a first target position and first contour data from the target data, respectively determining a first display color and a first display transparency, and taking the first target position, the first contour data, the first display color and the first display transparency as target display data corresponding to the track position identifier, wherein the first target position is a predicted planned position of a target track at the current playing time, the first contour data is actual contour data of a movable object corresponding to the target track at the pause time, and the target track is the predicted planned track corresponding to the track position identifier.

In one embodiment, the step of determining target display data corresponding to the track location identifier according to the non-target data cached in the local cache includes:

if the track position identifier is an actual position identifier, respectively extracting a second target position and second contour data from second track data cached in the local cache, determining a second display color and a second display transparency, and taking the second target position, the second contour data, the second display color and the second display transparency as target display data corresponding to the track position identifier, wherein the second track data is track data corresponding to the current playing time, the second target position is an actual position of a movable object corresponding to the track position identifier at the current playing time, and the second contour data is actual contour data of the movable object corresponding to the track position identifier at the current playing time.

In one embodiment, any of the movable objects is a host vehicle or an obstacle. Before the step of rendering the display interface at the current playing time according to each piece of the target display data, the method further includes:

if the track position identifications corresponding to the current playing time comprise at least one self-track position identification and at least one obstacle track position identification, judging whether a predicted planned track corresponding to the self-track position identification collides with at least one obstacle at the current playing time or not according to a first target position corresponding to the self-track position identification and a second target position corresponding to each obstacle track position identification aiming at each self-track position identification, and if the predicted planned track corresponding to the self-track position identification collides with at least one obstacle at the current playing time, modifying a first display color in target display data corresponding to the self-track position identification into a third display color;

the track position mark of the self-vehicle is a track mark of a predicted planned track of the self-vehicle, and track data corresponding to the track position mark of the self-vehicle is marked; the obstacle track position identification is an actual position identification of the obstacle.

In one embodiment, the trajectory data of each predicted planned trajectory selected by the selection instruction further includes a weight corresponding to the predicted planned trajectory. The step of determining the transparency of the first display comprises: and extracting the weight corresponding to the track position identification from the target data, and determining the first display transparency based on the weight, wherein the first display transparency is positively or negatively correlated with the weight.

In one embodiment, the step of rendering the display interface at the current playing time according to each piece of target display data includes:

rendering the display interface at the current playing time according to each target display data, so that the display interface at the current playing time displays the outline corresponding to the target display data at the position included by each target display data according to the display color and the transparency in the target display data.

In one embodiment, the method further comprises: for each track position identification corresponding to the current playing time, if the track position identification is the track identification of the predicted planning track corresponding to the marked track data, extracting the actual position of the movable object corresponding to the track position identification at the current playing time from the second track data cached locally, calculating a predicted deviation value corresponding to the track position identification, wherein the actual position of the movable object corresponding to the track position identification at the current playing time is the first target position corresponding to the track position identification; the second track data is track data corresponding to the current playing time;

and generating a deviation data chart according to each predicted deviation value.

In one embodiment, for each of the track location identifiers, if the track location identifier is a track identifier of a predicted planned track corresponding to the marked track data, determining target display data corresponding to the track location identifier according to the target data, otherwise, before the step of determining the target display data corresponding to the track location identifier according to the non-target data cached in the local cache, the method includes:

responding to the track playing instruction, clearing unmarked cache data in the local cache, reading second track data from a playing file, and caching the second track data in the local cache; the second track data is track data corresponding to the current playing time.

The embodiment of the application provides a track display device, the device is applied to playback devices, playback devices is equipped with local buffer memory, the device includes:

the first interface rendering module is used for rendering a pause interface according to the first track data cached in the local cache so as to enable the pause interface to display each predicted planned track of at least one movable object at the pause moment; the first track data is track data at the pause moment;

a data marking module, configured to mark, in response to a selection instruction for selecting at least one predicted planned trajectory displayed on the suspension interface, target data in the first trajectory data, so as to keep the target data in the local cache when updating the cache data of the local cache; the target data comprises trajectory data of each predicted planned trajectory selected by the selection instruction;

the track position identification determining module is used for responding to a track playing instruction and determining track position identifications of all track positions needing to be displayed at the current playing moment;

a target display data determining module, configured to determine, for each track location identifier, target display data corresponding to the track location identifier according to the target data if the track location identifier is a track identifier of a predicted planning track corresponding to the marked track data, and otherwise determine the target display data corresponding to the track location identifier according to non-target data cached in the local cache;

and the second interface rendering module is used for rendering the display interface at the current playing moment according to each piece of target display data.

The present application provides a storage medium, in which computer readable instructions are stored, and when the computer readable instructions are executed by one or more processors, the one or more processors are caused to execute the steps of the trajectory display method according to any one of the above embodiments.

An embodiment of the present application provides a computer device, including: one or more processors, and a memory;

the memory stores computer readable instructions, and the computer readable instructions, when executed by the one or more processors, perform the steps of the trajectory display method of any of the above embodiments.

In the trajectory display method, apparatus, storage medium, and computer device provided by the present application, the playback device may render a pause interface according to the first trajectory data at the pause time, where the pause interface may display a predicted planned trajectory of the movable object at the pause time. If a selection instruction for selecting at least one predicted planned track displayed on the pause interface is received, the playing device may use the track data of the predicted planned track selected by the selection instruction in the first track data as target data, and mark the target data, so as to keep the target data from being deleted in the local cache.

The target data is the track data of the predicted planning track obtained by taking the pause time as the starting time of the predicted planning and is continuously reserved in the local cache, so that under the condition of receiving a track playing instruction, if the predicted planning track corresponding to the target data needs to be played at the current time, even if the current playing time is not the pause time, the playing equipment can play the predicted planning track obtained by taking the pause time as the starting time of the predicted planning, so that an engineer can quickly know the matching degree of the predicted planning track obtained by the automatic driving algorithm at the driving time and the actual driving condition, and the predicted planning algorithm can be further promoted.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a diagram of a prior art display interface in a pause playback situation;

FIG. 2A is a diagram of a display interface at 0 th second in the case of receiving a track play command according to the prior art;

FIG. 2B is a diagram of a display interface at the 1 st second after receiving a track play command according to the prior art;

FIG. 2C is a diagram of a prior art display interface receiving a pause instruction based on FIG. 2B;

FIG. 3 is a schematic flowchart illustrating a trajectory display method according to an embodiment of the present application;

FIG. 4 is a diagram of one display interface of a trajectory display method according to an embodiment of the present application;

FIG. 5 is a second display interface diagram of a trajectory display method according to an embodiment of the present application;

FIG. 6A is a diagram of a pause interface in one embodiment of the present application;

FIG. 6B is a diagram of a dynamic display interface based on FIG. 6A;

FIG. 7 is a schematic diagram of a data store in one embodiment of the present application;

FIG. 8 is a schematic structural diagram of a track display device according to an embodiment of the present application;

FIG. 9 is a block diagram of a computer device in an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

As the background art, in the process of displaying the track in the prior art, only the predicted planning track obtained by using the current playing time as the starting time of the predicted planning can be displayed, which is not beneficial to the improvement of the predicted planning algorithm. Specifically, as shown in fig. 1, in the case of pausing the playback, the prior art may display a planned trajectory of the own vehicle and a predicted trajectory of each obstacle at the current playback time (i.e., the pause time), where the displayed planned trajectory of the own vehicle and the displayed predicted trajectory of the obstacle are both obtained by using the current playback time as a starting time of the predicted planning, and each predicted planned trajectory is linearly presented on the visualization interface. Generally, for each time, the automatic driving algorithm generally outputs a plurality of predicted trajectories of the vehicle and a plurality of predicted trajectories of the obstacle, and in the figure, in order to avoid overlapping and confusion of the trajectories, fig. 1 shows 1 planned trajectory of the vehicle and 1 predicted trajectory of the obstacle as an example.

As shown in fig. 2A and 2B, when receiving the track playing instruction, the playing device may display real-time positions of the vehicle and the obstacle at the current playing time, so that an engineer may dynamically observe actual tracks and contours of the vehicle and each obstacle. Fig. 2A shows a visual interface corresponding to the 0 th second when the playback device receives the track playback instruction, and fig. 2B shows a visual interface corresponding to the 1 st second when the playback device receives the track playback instruction. If the playing device receives the pause instruction in the 1 st second, the playing device displays the planned trajectory of the vehicle and the predicted trajectory of the obstacle, which are obtained by the automatic driving algorithm with the 1 st second as the starting time of the prediction plan, and the pause interface may be as shown in fig. 2C.

If the engineer wants to view the predicted planning trajectory obtained by using the 0 th second as the starting time of the predicted planning in the visual interface corresponding to the 1 st second, the prior art cannot achieve the predicted planning trajectory, so that the engineer is not facilitated to quickly know the matching degree of the predicted planning trajectory and the actual driving condition, and the predicted planning algorithm is not facilitated to be improved.

In order to solve the above problems, the present application provides a trajectory display method, apparatus, storage medium, and computer device, in which even if the current playing time is not the pause time, the playing device may play a predicted planned trajectory obtained by using the pause time as the starting time of the predicted planning, so that an engineer can quickly know the matching degree between the predicted planned trajectory obtained by the automatic driving algorithm at the driving time and the actual driving condition, and thus the predicted planning algorithm can be improved.

In one embodiment, the present application provides a track display method, which may be applied to a playback device, where a local cache is provided in the playback device. As shown in fig. 3, the method specifically includes the following steps:

s202, rendering a pause interface according to the first track data cached in the local cache, so that the pause interface displays each predicted planned track of at least one movable object at the pause moment; the first trajectory data is trajectory data at the pause time.

The first trajectory data refers to trajectory data at the suspension time, and includes, but is not limited to, an actual position of the vehicle at the suspension time, an actual position of each obstacle at the suspension time, and each predicted planned trajectory obtained by an automatic driving algorithm with the suspension time as a starting time of the predicted planning.

Specifically, before rendering the pause interface, the playback device may obtain the first track data from the playback file and load the first track data into the local cache. The playing file is used for recording track data at each moment, and can be stored in the playing device or the server.

In a case that the pause interface needs to be rendered, the playing device may read the first trajectory data from the local cache, and render the pause interface according to the first trajectory data, so that the pause interface displays at least one predicted planned trajectory of at least one movable object at the time of pause. In one embodiment, any of the movable objects may be a host vehicle or an obstacle, for example, the pause interface may display at least one predicted planned trajectory of the host vehicle and/or at least one predicted planned trajectory of the obstacle.

S204, in response to a selection instruction for selecting at least one predicted planned trajectory displayed on the pause interface, marking target data in the first trajectory data so as to keep the target data in the local cache when updating cache data of the local cache; the target data includes trajectory data for each predicted planned trajectory selected by the selection instruction.

Specifically, the engineer may select one or more predicted planned trajectories displayed on the pause interface, that is, one or more predicted planned trajectories obtained by the autopilot algorithm with the pause time as the starting time of the predicted plan. The playing device may determine the predicted planned trajectory selected by the selection instruction when receiving the selection instruction, and data-mark the target data in the first trajectory data with the trajectory data of the selected predicted planned trajectory as the target data.

When the track is dynamically played, the playing device may update the locally cached cache data for multiple times. Specifically, the playing device may continuously obtain the track data corresponding to the current playing time from the playing file, and cache the track data corresponding to the current playing time in the local cache. The data in the local cache needs to be cleared by the playing device, so as to ensure that there is enough storage space in the local cache to load the track data corresponding to the current playing time. In the process of updating the cache data, the playing device may keep the marked data in the local cache, that is, the playing device may not delete the marked data from the local cache.

S206, responding to the track playing instruction, and determining the track position identification of each track position required to be displayed at the current playing moment.

For example, when a plurality of predicted planned trajectories are selected by the selection instruction, the playback device may selectively play one or some of the predicted planned trajectories at the current playback time according to the requirement of an engineer, in which case the playback device may determine the trajectory position identifier of the trajectory position that needs to be displayed at the current playback time.

In one embodiment, the track playing instruction may be generated by being triggered when the playing time axis is detected to be dragged or the track playing control is detected to be triggered. In one example, the playback timeline can include an algorithmic timeline for playing the track data of the marked predicted planned tracks and a conventional timeline for playing the real-time locations.

And S208, aiming at each track position identification, if the track position identification is the track identification of the predicted planning track corresponding to the marked track data, determining target display data corresponding to the track position identification according to the target data, otherwise, determining the target display data corresponding to the track position identification according to non-target data cached in the local cache.

Specifically, for each track position identifier at the current playing time, the playing device may determine, according to the cached data cached locally, target display data corresponding to the track position identifier. The target display data corresponding to the track position identifier is data used for rendering the image of the movable object corresponding to the track position identifier on the display interface, and may include any one or any combination of a display position, a display contour, a display color, and a display transparency.

For each track position identifier at the current playing moment, if the track position identifier is the track identifier of the predicted planning track corresponding to the marked track data, the track data corresponding to the track position identifier is indicated as target data, and therefore target display data corresponding to the track position identifier can be determined according to the target data cached locally; if the track position mark is the track mark of the predicted planned track corresponding to the track data which is not marked, it indicates that the track data corresponding to the track position mark is the track data corresponding to the current playing time, so that the target display data corresponding to the track position mark can be determined according to the non-target data stored in the local cache, and the non-target data can be the track data corresponding to the current playing time.

And S210, rendering the display interface of the current playing moment according to each target display data.

The playing device can render the display interface at the current playing time according to the target display data corresponding to each track position identifier, so that the display interface at the current playing time can have the content required to be displayed.

In this embodiment of the application, the playing device may render a pause interface according to the first trajectory data at the pause time, where the pause interface may display the predicted planned trajectory of the movable object at the pause time. If a selection instruction for selecting at least one predicted planning track displayed on the pause interface is received, the playing device may use the track data of the predicted planning track selected by the selection instruction in the first track data as target data, and mark the target data, so as to keep the target data from being deleted in the local cache.

The target data is the track data of the predicted planning track obtained by taking the pause time as the starting time of the predicted planning and is continuously kept in the local cache, so that under the condition of receiving a track playing instruction, if the predicted planning track corresponding to the target data needs to be played at the current time, even if the current playing time is not the pause time, the playing equipment can play the predicted planning track obtained by taking the pause time as the starting time of the predicted planning, so that an engineer can quickly know the matching degree of the predicted planning track obtained by the automatic driving algorithm at the driving time and the actual driving condition, and the predicted planning algorithm can be further promoted.

In one embodiment, the trajectory data of each predicted planned trajectory selected by the selection instruction includes predicted planned positions of the movable object corresponding to the predicted planned trajectory at a plurality of times, for example, if the pause time is T0, the trajectory data of a predicted planned trajectory for a self vehicle may include a predicted planned position of the self vehicle at a time (T0 + Δ T), a predicted planned position of the self vehicle at a time (T0 +2 Δ T), \82308230\8230, a predicted planned position of the self vehicle at a time (T0 + n Δ T), and the like. Wherein, Δ T is a preset time interval, n is a positive integer, and the specific numerical value can be determined according to the actual situation.

The trajectory data for each predicted planned trajectory selected by the selection instruction may also include actual contour data for the movable object corresponding to the predicted planned trajectory at the pause time. The actual contour data of the movable object corresponding to the predicted planned trajectory at the pause time refers to contour data of a real contour of the movable object corresponding to the predicted planned trajectory at the pause time.

Specifically, for each track position identifier corresponding to the current playing time, if the track position identifier is the track identifier of the predicted planned track corresponding to the marked track data, the following process may be performed: taking the predicted planning track corresponding to the track position identification as a target track, and extracting a predicted track position of the target track at the current playing time, namely a first target position, from the target data; the playing device can extract actual contour data of the movable object corresponding to the target track at the pause time from the target data, namely first contour data; and determining a first display color and a first display transparency, and taking the first target position, the first outline data, the first display color and the first display transparency as target display data of the track position identifier.

Therefore, the predicted planned track at the pause time can be associated with the actual contour data of the movable object corresponding to the predicted planned track at the pause time to obtain target display data, so that the playing equipment can dynamically display the position and contour of the movable object at the current playing time when the movable object moves according to the predicted planned track.

Specifically, in the local cache, the track data corresponding to the current playing time, that is, the second track data, is cached. For each track position identifier corresponding to the current playing time, if the track position identifier is the track identifier of the predicted planning track corresponding to the track data which is not marked, it indicates that the track data corresponding to the track position identifier belongs to the track data corresponding to the current playing time. The track data corresponding to the current playing time may include actual positions of the movable objects at the current playing time, and track data of the predicted planned tracks obtained by the automatic driving algorithm with the current playing time as the starting time of the predicted plan.

For each track position identifier, if the track position identifier is a track identifier of a predicted planned track corresponding to the non-marked track data and the track position identifier is an actual position identifier, the playing device may extract an actual position of the movable object corresponding to the track position identifier at the current playing time, that is, a second target position, from the second track data; the playing device can also extract actual track data of the movable object corresponding to the track position identifier at the current playing moment from the second track data, namely second contour data; the playing device can also determine a second display color and a second display transparency, and use the second display color, the second display transparency, the second target position and the second contour data as target display data corresponding to the track position identifier.

Therefore, the actual position of the movable object at the current playing moment can be associated with the actual contour data of the movable object at the current playing moment to obtain target display data, so that the playing equipment can dynamically display the actual motion track and contour of the movable object.

In an embodiment, the step of rendering the display interface at the current playing time according to each piece of target display data includes:

Taking an example that the playing device renders the display interface at the current moment according to two target display data, one of the target display data includes a first target position a, first outline data a, a first display color, and a first display transparency, and the other target display data includes a first target position B, first outline data B, a first display color, and a first display transparency. In this case, the playing device may render the display interface at the current playing time according to the two target display data, so that the display interface at the current playing time displays, at the first target position a, the outline corresponding to the first outline data a with the first display color and the first display transparency; and displaying the contour corresponding to the first contour data B by the first display color and the first display transparency on the display interface at the current playing time at the first target position B.

In one example, as shown in fig. 4, after marking the predicted planned trajectory of the movable object obtained with the 0 th second as the starting time of the predicted plan, the display interface of the 1 st second during the dynamic playing process, wherein the display interface of the 1 st second displays the predicted planned position of the predicted planned trajectory at the 1 st second (i.e., "0 th predicted planned position" in the figure) and the actual position of the same movable object at the 1 st second. Therefore, the goodness of fit between the predicted planned track contour and the real track contour of the movable object can be dynamically compared, so that the position difference of the contours can be observed in a visual mode, an engineer can rapidly know the actual road condition and the algorithm deviation from the perspective of the real world macroscopically, and the planning control algorithm can be promoted.

In one embodiment, any of the movable objects is a host vehicle or an obstacle, in other words, for each movable object, the movable object may be a host vehicle or an obstacle. Before the step of rendering the display interface at the current playing time according to each piece of the target display data, the method further includes:

if each track position identification corresponding to the current playing time comprises at least one self-track position identification and at least one obstacle track position identification, judging whether a predicted planning track corresponding to the self-track position identification collides with at least one obstacle at the current playing time or not according to a first target position corresponding to the self-track position identification and a second target position corresponding to each obstacle track position identification, and if the predicted planning track corresponding to the self-track position identification collides with at least one obstacle at the current playing time, modifying a first display color in target display data corresponding to the self-track position identification into a third display color;

the track position identification of the self-vehicle is the track identification of the predicted planned track of the self-vehicle, and the track data corresponding to the track position identification of the self-vehicle is marked; the obstacle track position mark is an actual position mark of the obstacle.

Specifically, when each track position identifier corresponding to the current playing time includes the track identifier of the marked predicted planned track of the own vehicle and the actual position identifier of the obstacle, the playing device may determine whether the predicted track of the own vehicle collides with the obstacle at the current playing time according to the predicted planned position of the marked predicted track of the own vehicle at the current time and the actual position of the obstacle at the current time, which are required to be displayed. If so, modifying the display color corresponding to the predicted track of the own vehicle, and modifying the display color into a third display color different from the first display color so as to warn the collision through the change of the display color.

Further, for each of the self-vehicle track position identifiers, the playing device may determine, according to the first target position corresponding to the self-vehicle track position identifier, the first contour data corresponding to the self-vehicle track position identifier, the second target position corresponding to each of the obstacle track position identifiers, and the second contour data corresponding to each of the obstacle track position identifiers, whether the predicted planned trajectory corresponding to the self-vehicle track position identifier collides with at least one obstacle at the current playing time, so that it is dynamically analyzed whether a contour in the planned trajectory of the self-vehicle collides with a real contour of the obstacle, which helps to improve the predictive planning algorithm.

In one example, as shown in fig. 5, after marking the predicted planned trajectory of the own vehicle obtained with the 0 th second as the starting time of the predicted plan, the display interface of the 1 st second during the dynamic playing process, where the display interface of the 1 st second displays the predicted planned position of the predicted planned trajectory of the own vehicle at the 1 st second (i.e., "predicted planned position of the own vehicle at the 0 th second" in the figure), the actual position of the own vehicle at the 1 st second, and the actual position of an obstacle at the 1 st second. The playing device may be according to the above embodiment, determine whether the predicted planned trajectory of the self vehicle will collide with the obstacle in the 1 st second according to the predicted planned position of the self vehicle in the 0 th second, the actual contour data of the self vehicle in the 0 th second, the actual position of the obstacle in the 1 st second, and the actual contour data of the obstacle in the 1 st second, if so, mark red the contour displayed at the predicted planned position of the self vehicle in the 0 th second to warn, so as to help an engineer to quickly know the matching degree between the predicted planned trajectory obtained by the automatic driving algorithm at the driving time and the actual driving situation, and help to promote the predicted planned algorithm.

In one embodiment, the trajectory data for each predicted planned trajectory selected by the selection instruction further includes a weight corresponding to the predicted planned trajectory. Specifically, the automatic driving algorithm gives a plurality of planned trajectories to the vehicle and a plurality of predicted trajectories to the same obstacle at each driving time, and each planned trajectory and the predicted trajectories to the same obstacle have different weights, which reflect the possibility of the vehicle/obstacle moving along the trajectory.

The step of determining the transparency of the first display comprises: and extracting the weight corresponding to the track position identification from the target data, and determining the first display transparency based on the weight, wherein the first display transparency is positively or negatively correlated with the weight.

In one embodiment, the first display transparency and the weight can be in negative correlation, in other words, the larger the weight is, the lower the first display transparency is, so that the display interface at the current playing moment can give priority to clearly display the predicted planning position with high possibility. As shown in fig. 6A and 6B, fig. 6A is a pause interface at second 0, and at second 0, the obstacle includes two predicted trajectories, and the weights of predicted trajectory 1 and predicted trajectory 2 are 0.9 and 0.1, respectively; the self-vehicle comprises two planning tracks, and the weights of the planning track 1 and the planning track 2 are 0.9 and 0.1 respectively. After marking the 4 predicted planned tracks displayed on the pause interface, in the process of dynamic playing, the interface displayed by the playing device at the 1 st second may be as shown in fig. 6B, where the predicted planned track with the weight of 0.9 corresponds to a higher transparency, and the predicted planned track with the weight of 0.1 corresponds to a lower transparency.

In this embodiment, the playing device may render multiple predicted planning positions of the same movable object through different transparencies, so as to further compare advantages and disadvantages between different predicted planning schemes, and compare weight distribution and strength of different predicted planning schemes, thereby helping to promote a predicted planning algorithm.

In one embodiment, the method further comprises: for each track position identification corresponding to the current playing time, if the track position identification is the track identification of the predicted planning track corresponding to the marked track data, extracting the actual position of the movable object corresponding to the track position identification at the current playing time from the second track data buffered in the local cache, calculating a predicted deviation value corresponding to the track position identification, wherein the actual position of the movable object corresponding to the track position identification at the current playing time is the first target position corresponding to the track position identification; the second track data is track data corresponding to the current playing time;

Specifically, the playing device may compare the marked predicted planned trajectory in the local cache with the actual position to obtain a predicted deviation value of each predicted planned trajectory at the current playing time, and generate a deviation data chart accordingly. For example, for the pause interfaces shown in fig. 6A and 6B, if the predicted planned trajectories of the pause interfaces are cached, the playing device may obtain the predicted deviation data shown in the following table:

further, the playing device can display the deviation data chart, so that the position difference of the predictive planning algorithm can be observed in a chart mode, and an engineer can more accurately know the deviation of the predictive planning algorithm from a theoretical perspective in a microscopic mode.

In an embodiment, for each of the track location identifiers, if the track location identifier is a track identifier of a predicted planned track corresponding to the marked track data, determining target display data corresponding to the track location identifier according to the target data, otherwise, before the step of determining the target display data corresponding to the track location identifier according to the non-target data cached in the local cache, the method includes:

Specifically, after receiving a track playing instruction input by a user, the playing device updates the locally cached cache data. Specifically, the playing device will clear the data that is not marked in the local cache, then read the track data corresponding to the current playing time from the playing file, and load the read track data into the local cache, so that the playing device can generate the display interface corresponding to the current playing time according to the cache data of the local cache. Therefore, under the condition that enough storage space is ensured in the local cache to load the track data corresponding to the current playing moment, the hardware requirement of the local cache can be reduced, and the equipment cost of the playing equipment is further reduced.

In one example, the track display method of the present application may be as shown in fig. 7, and the present application performs playback according to an algorithm time axis and a conventional time axis at the time of displaying the track, where the algorithm time axis is used for playing track data of the marked predicted planned track, and the conventional time axis is used for playing actual data at the current playback time.

When the conventional time axis is at the 0 th second, the playing device acquires the track data corresponding to the 0 th second from the playing file, wherein the track data corresponding to the 0 th second comprises the actual positions of the vehicle and the obstacle at the 0 th second, the actual contours of the vehicle and the obstacle at the 0 th second, and the track data of a plurality of predicted tracks of the vehicle and the obstacle at the 0 th second. Under the condition that a pause instruction is received or a track playing instruction is not received, the playing device responds to a selection instruction, determines a predicted planned track selected by a user in 0 th second, marks track data of the selected predicted planned track, keeps an actual contour corresponding to the predicted planned track and predicted planned positions of a movable object corresponding to the predicted planned track in a local cache at multiple moments, and clears other data in the local cache.

When a user drags the algorithm time axis, drags the conventional time axis or triggers the playing control, the playing device can render according to the track data and the contour data of the predicted planned track cached in the local cache. The playing device may also perform a stack rendering according to the trajectory data of the predicted planned trajectory, the contour data at the pause time, the actual position at the current playing time, and the contour data at the current playing time, so as to perform a dynamic comparison. Therefore, the coincidence degree of the predicted planned track contour and the actual track contour of the vehicle/barrier can be dynamically compared, so that the planning control algorithm is promoted; and whether the planned track of the self vehicle collides with the actual contour of the barrier can be dynamically analyzed, so that the planning control algorithm can be promoted.

The following describes a trajectory display device provided in an embodiment of the present application, and the trajectory display device described below and the trajectory display method described above may be referred to correspondingly.

In one embodiment, the present application provides a track display apparatus 300, where the apparatus 300 is applied to a playback device, and the playback device is provided with a local cache. As shown in fig. 8, the apparatus 300 includes:

a first interface rendering module 310, configured to render a pause interface according to the first trajectory data cached in the local cache, so that the pause interface displays each predicted planned trajectory of at least one movable object at a pause time; the first track data is track data at the pause moment;

a data marking module 320, configured to mark, in response to a selection instruction for selecting at least one predicted planned trajectory displayed by the suspension interface, target data in the first trajectory data to be retained in the local cache when the cached data of the local cache is updated; the target data comprises trajectory data of each predicted planned trajectory selected by the selection instruction;

a track position identifier determining module 330, configured to determine, in response to a track playing instruction, a track position identifier of each track position that needs to be displayed at the current playing time;

a target display data determining module 340, configured to determine, for each track location identifier, target display data corresponding to the track location identifier according to the target data if the track location identifier is a track identifier of a predicted planning track corresponding to the marked track data, and otherwise determine the target display data corresponding to the track location identifier according to non-target data cached in the local cache;

a second interface rendering module 350, configured to render the display interface at the current playing time according to each piece of the target display data.

In one embodiment, the trajectory data for each predicted planned trajectory selected by the selection instruction includes predicted planned positions of the movable object corresponding to the predicted planned trajectory at a plurality of times, and actual contour data of the movable object corresponding to the predicted planned trajectory at the pause time.

The target display data determination module 340 includes a first data determination unit. The first data determining unit is configured to extract a first target position and first contour data from the target data, determine a first display color and a first display transparency respectively, and use the first target position, the first contour data, the first display color, and the first display transparency as target display data corresponding to the track position identifier, where the first target position is a predicted planned position of a target track at the current playing time, the first contour data is actual contour data of a movable object corresponding to the target track at the pause time, and the target track is the predicted planned track corresponding to the track position identifier.

In one embodiment, the target display data determination module 340 includes a second data determination unit. The second data determining unit is configured to, if the track position identifier is an actual position identifier, extract a second target position and second contour data from second track data buffered in the local cache, determine a second display color and a second display transparency, and use the second target position, the second contour data, the second display color, and the second display transparency as target display data corresponding to the track position identifier, where the second track data is track data corresponding to the current play time, the second target position is an actual position of a movable object corresponding to the track position identifier at the current play time, and the second contour data is actual contour data of the movable object corresponding to the track position identifier at the current play time.

In one embodiment, any of the movable objects is a host vehicle or an obstacle. The device 300 further includes a collision determination module, configured to, if each track position identifier corresponding to the current playing time includes at least one own track position identifier and at least one obstacle track position identifier, determine, for each own track position identifier, whether a predicted planned track corresponding to the own track position identifier collides with at least one obstacle at the current playing time according to a first target position corresponding to the own track position identifier and a second target position corresponding to each obstacle track position identifier, and modify, if the predicted planned track corresponding to the own track position identifier collides with at least one obstacle at the current playing time, a first display color in target display data corresponding to the own track position identifier to a third display color;

In one embodiment, the trajectory data for each predicted planned trajectory selected by the selection instruction further includes a weight corresponding to the predicted planned trajectory. The first data determining unit further comprises a transparency determining unit, wherein the transparency determining unit is used for extracting a weight corresponding to the track position identifier from the target data, and determining the first display transparency based on the weight, and the first display transparency and the weight are in positive correlation or negative correlation.

In one embodiment, the second interface rendering module 350 includes a display unit, configured to render the display interface at the current playing time according to each target display data, so that the display interface at the current playing time displays, at a position included in each target display data, an outline corresponding to the target display data according to a display color and a transparency in the target display data.

In one embodiment, the apparatus 300 further comprises a deviation value calculating module and a chart generating module. The deviation value calculating module is configured to, for each track position identifier corresponding to the current playing time, if the track position identifier is a track identifier of a predicted planned track corresponding to marked track data, extract, from second track data buffered in the local cache, an actual position of a movable object corresponding to the track position identifier at the current playing time, and calculate a predicted deviation value corresponding to the track position identifier, where the actual position of the movable object corresponding to the track position identifier at the current playing time is the first target position corresponding to the track position identifier; the second track data is track data corresponding to the current playing time. The chart generation module is used for generating a deviation data chart according to each predicted deviation value.

In one embodiment, the apparatus 300 further includes a data updating module, configured to, in response to the track playing instruction, clear the cache data that is not marked in the local cache, read second track data from the playing file, and cache the second track data in the local cache; the second track data is track data corresponding to the current playing time.

In one embodiment, the present application further provides a storage medium having computer-readable instructions stored therein, which when executed by one or more processors, cause the one or more processors to perform the steps of the trajectory display method as described in any one of the above embodiments.

In one embodiment, the present application further provides a computer device having computer-readable instructions stored therein, which when executed by one or more processors, cause the one or more processors to perform the steps of the trajectory display method as described in any of the above embodiments.

Fig. 9 is a schematic diagram illustrating an internal structure of a computer device according to an embodiment of the present invention, and the computer device 900 may be provided as a server, as shown in fig. 9. Referring to fig. 9, computer device 900 includes a processing component 902 that further includes one or more processors, and memory resources, represented by memory 901, for storing instructions, e.g., applications, that are executable by processing component 902. The application programs stored in memory 901 may include one or more modules that each correspond to a set of instructions. Further, the processing component 902 is configured to execute instructions to perform the trajectory display method of any of the embodiments described above.

The computer device 900 may also include a power component 903 configured to perform power management of the computer device 900, a wired or wireless network interface 904 configured to connect the computer device 900 to a network, and an input/output (I/O) interface 905. Computer device 900 may operate based on an operating system stored in memory 901, such as Windows Server (TM), mac OS XTM, unix (TM), linux (TM), free BSDTM, or the like.

Those skilled in the art will appreciate that the internal structure of the computer device shown in the present application is a block diagram of only a portion of the structure associated with the embodiments of the present application, and does not constitute a limitation of the computer device to which the embodiments of the present application may be applied, and that a particular computer device may include more or less components than those shown in the drawings, or may combine certain components, or have a different arrangement of components.

Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element. As used herein, the terms "a", "an", "the" and "the" can also include the plural forms as well, unless the context clearly indicates otherwise. Plural means at least two cases, such as 2, 3, 5 or 8, etc. "and/or" includes any and all combinations of the associated listed items.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, the embodiments may be combined as needed, and the same and similar parts may be referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A track display method is applied to a playing device, the playing device is provided with a local cache, and the method comprises the following steps:

in response to a track playing instruction, determining track position identifiers of all track positions needing to be displayed at the current playing moment;

and rendering the display interface of the current playing moment according to each target display data.

2. The method of claim 1, wherein the trajectory data for each predicted planned trajectory selected by the selection instruction includes predicted planned positions of the movable object corresponding to the predicted planned trajectory at a plurality of times, and actual contour data of the movable object corresponding to the predicted planned trajectory at the pause time;

the step of determining the target display data corresponding to the track position identifier according to the target data comprises the following steps:

extracting a first target position and first contour data from the target data, respectively determining a first display color and a first display transparency, and taking the first target position, the first contour data, the first display color and the first display transparency as target display data corresponding to the track position identifier, wherein the first target position is a predicted planned position of a target track at the current playing moment, the first contour data is actual contour data of a movable object corresponding to the target track at the pause moment, and the target track is the predicted planned track corresponding to the track position identifier.

3. The method of claim 2, wherein the step of determining target display data corresponding to the track location identifier according to the non-target data cached in the local cache comprises:

4. The method of claim 3, wherein any movable object is a host vehicle or an obstacle;

before the step of rendering the display interface at the current playing time according to each piece of the target display data, the method further includes:

5. The method of claim 2, wherein the trajectory data for each predicted planned trajectory selected by the selection instruction further includes a weight corresponding to the predicted planned trajectory;

the step of determining the transparency of the first display comprises:

and extracting the weight corresponding to the track position identification from the target data, and determining the first display transparency based on the weight, wherein the first display transparency is positively or negatively correlated with the weight.

6. The method according to any one of claims 2 to 5, wherein the step of rendering the display interface of the current playing time according to each target display data comprises:

and rendering the display interface at the current playing time according to each target display data, so that the display interface at the current playing time displays the outline corresponding to the target display data at the position included by each target display data according to the display color and the transparency in the target display data.

7. The method according to any one of claims 2 to 5, further comprising:

for each track position identification corresponding to the current playing time, if the track position identification is the track identification of the predicted planning track corresponding to the marked track data, extracting the actual position of the movable object corresponding to the track position identification at the current playing time from the second track data buffered in the local cache, calculating a predicted deviation value corresponding to the track position identification, wherein the actual position of the movable object corresponding to the track position identification at the current playing time is the first target position corresponding to the track position identification; the second track data is track data corresponding to the current playing time;

8. The method according to any one of claims 1 to 5, wherein for each of the trajectory position identifiers, if the trajectory position identifier is a trajectory identifier of a predicted planned trajectory corresponding to the marked trajectory data, determining target display data corresponding to the trajectory position identifier according to the target data, otherwise, determining target display data corresponding to the trajectory position identifier according to non-target data cached in the local cache, includes, before the step of determining the target display data corresponding to the trajectory position identifier according to the non-target data cached in the local cache:

9. A track display device is characterized in that the device is applied to a playing device, the playing device is provided with a local cache, and the device comprises:

a data marking module, configured to mark, in response to a selection instruction for selecting at least one predicted planned trajectory displayed on the suspension interface, target data in the first trajectory data, so as to retain the target data in the local cache when updating the cache data of the local cache; the target data comprises trajectory data of each predicted planned trajectory selected by the selection instruction;

10. A storage medium having stored therein computer readable instructions which, when executed by one or more processors, cause the one or more processors to perform the steps of the trajectory display method of any one of claims 1 to 8.

11. A computer device, comprising: one or more processors, and a memory;

the memory has stored therein computer readable instructions which, when executed by the one or more processors, perform the steps of the trajectory display method of any one of claims 1 to 8.