US 12,315,078 B2
Self-driving simulation rendering method and apparatus, device, and readable medium
Yu Zhang, Jiangsu (CN); and Zhan Gong, Jiangsu (CN)
Assigned to INSPUR SUZHOU INTELLIGENT TECHNOLOGY CO., LTD., Jiangsu (CN)
Appl. No. 18/005,940
Filed by INSPUR SUZHOU INTELLIGENT TECHNOLOGY CO., LTD., Jiangsu (CN)
PCT Filed Feb. 19, 2021, PCT No. PCT/CN2021/076877
§ 371(c)(1), (2) Date Jan. 18, 2023,
PCT Pub. No. WO2022/016859, PCT Pub. Date Jan. 27, 2022.
Claims priority of application No. 202010717480.9 (CN), filed on Jul. 23, 2020.
Prior Publication US 2023/0351685 A1, Nov. 2, 2023
Int. Cl. G06T 17/00 (2006.01); G06T 15/00 (2011.01)
CPC G06T 17/005 (2013.01) [G06T 15/005 (2013.01); G06T 2210/22 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A self-driving simulation rendering method, comprising:
loading a scene file, performing scene modeling based on a tree model, and establishing a static spatial index;
setting a dynamic traffic flow to generate a dynamic scene, and setting a position and direction of a sensor; and
creating a first thread and a second thread, scheduling the first thread to crop each frame of the dynamic scene based on the tree model, and scheduling the second thread to render, based on the position and direction of the sensor, each frame cropped by the first thread and output the rendered frame;
wherein scheduling the first thread to crop each frame of the dynamic scene based on the tree model comprises:
determining whether an area, corresponding to the tree model, of the dynamic scene is a rendering area of interest,
further determining a relationship between the rendering area of interest and a cropping area in a case that the area, corresponding to the tree model, of the dynamic scene is the rendering area of interest; and
constructing a Three-dimensional (3D) scene and outputting a cropping result in a case that the rendering area of interest is in the cropping area;
wherein the self-driving simulation rendering method further comprising:
cropping and filtering the tree model in a case that the rendering area of interest intersects the cropping area; and
reconstructing a 3D scene model and outputting a cropping result.