摘要
为了在自动驾驶汽车开发中实现三维地图可视化呈现及在模拟器中模拟真实道路,提出一套数据还原技术。通过把原始数据采用的经纬海拔(WGS84)坐标系转换为地心地固(ECEF)坐标,利用三维建模软件(Blender)API实现在不对ESRI数据进行编译的情况下将数据自动化地生成多边形网格模型。同时为提高数据使用效率,进一步进行局部坐标分割,最大化模型使用便利性。生成的三维网格模型,分别为模拟器的物理模块和渲染模块所用。针对高视觉效果要求的场合,提出对地图数据点做插值优化的方法,实现了场景的逼真还原和良好的可视化效果,自动化流程因无人工参与从而可控制人为数据处理错误和提高效率。
In order to realize the visualization of 3D maps in the development of autonomous vehicles and simulate real roads in the simulator,a set of data restoration techniques is proposed.By transforming the latitude and longitude(WGS84)coordinate system of the original data into the ECEF coordinates,the 3D modeling software(Blender)API is used to automatically generate the polygon mesh without compiling the ESRI data.At the same time,in order to improve the efficiency of data use,further NEU coordinate segmentation is performed to maximize the convenience of the mesh.The generated 3D mesh is used respectively by the physics modules and rendering modules of the simulator.For the requirements of high visual quality,a method of interpolation optimization for map data is also proposed,which realizes realistic restoration of scene and good visualization effect.Due to no human involvement,automated processes can control human error and improve efficiency.
作者
张骋
苗新蕊
牟雪曼
ZHANG Cheng;MIAO Xin-rui;MOU Xue-man(Zhejiang Geely Automotive Research Institute Co. LTD., Ningbo 315336, China;Nanjing Branch, Jiangsu Union Technical Institute, Nanjing 210019, China)
出处
《计算机与现代化》
2020年第8期21-25,55,共6页
Computer and Modernization
基金
国家重点研发计划“新能源汽车”重点专项(2018YFB0105100,2017YFB0102505)
上海市科技型中小企业技术创新基金资助项目(1601H131000)。
关键词
高精地图
绘制算法
可视化
插值优化
智能车模拟测试器
high precision maps
rendering algorithm
visualization
interpolation optimization
intelligent car simulator
