CN115435720A

CN115435720A - Test scene generation method, device, equipment and storage medium

Info

Publication number: CN115435720A
Application number: CN202211072775.0A
Authority: CN
Inventors: 瞿卫新; 杨品; 姚晓辉
Original assignee: Suzhou Aotemin Robot Technology Service Co ltd
Current assignee: Suzhou Aotemin Robot Technology Service Co ltd
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2022-12-06

Abstract

The invention discloses a test scene generation method, a test scene generation device, test scene generation equipment and a storage medium. The method comprises the following steps: acquiring a site position of a test site, and determining site information of the test site based on the site position; acquiring the position of an obstacle in the test field, and determining the information of the obstacle in the test field based on the position of the obstacle; generating a test scene of the test field based on the field information and the obstacle information so as to perform pose testing on a test object based on the test scene. According to the technical scheme disclosed by the invention, the object test is carried out through the built test scene, the problem of low accuracy of the test result caused by neglecting the test scene in the prior art is solved, and the accuracy of the test result is improved.

Description

Test scene generation method, device, equipment and storage medium

Technical Field

The invention relates to the technical field of robot testing, in particular to a test scene generation method, a test scene generation device, test scene generation equipment and a storage medium.

Background

The general optical motion capture system basically captures a moving object, the situation of a field can be ignored, the layout and the size of the field are manufactured additionally, and the two systems are combined and applied. However, in the process of applying the above method to the test field, it is found that the method of capturing the test object itself and then combining the test scenes affects the test precision of the final test result, thereby reducing the accuracy of the test result.

Disclosure of Invention

The invention provides a test scene generation method, a test scene generation device, test equipment and a storage medium, which are used for carrying out object testing through a built test scene, solving the problem of low accuracy of test results caused by neglecting the test scene in the prior art and realizing the improvement of the accuracy of the test results.

In a first aspect, an embodiment of the present invention provides a test scenario generation method, where the method includes:

acquiring a site position of a test site, and determining site information of the test site based on the site position;

acquiring the position of an obstacle in the test field, and determining the information of the obstacle in the test field based on the position of the obstacle;

and generating a test scene of the test site based on the site information and the obstacle information so as to perform pose test on a test object based on the test scene.

Optionally, before obtaining the site location of the test site, the method further includes:

and acquiring a preset initial coordinate system, determining a test coordinate system of the test site in the test coordinate system, and determining site information and obstacle information of the test site based on the test coordinate system.

Optionally, the obtaining of the site location of the test site and the determining of the site information of the test site based on the site location include:

determining each field edge position coordinate of at least one field edge position of the test field in the test coordinate system based on the test coordinate system;

and determining the field information of the test field based on the test coordinate system and the edge position coordinates of each field.

Optionally, the obtaining a position of an obstacle in the test site, and determining obstacle information in the test site based on the position of the obstacle includes:

for any obstacle, determining the coordinates of the center point of the current obstacle based on the test coordinate system;

obtaining the barrier type of the current barrier, and determining at least one barrier edge position coordinate of the current barrier based on the barrier type and the center point coordinate;

and determining the obstacle information of the current obstacle in the test field based on the test coordinate system and the edge position coordinates of each obstacle.

Optionally, the generating a test scenario of the test site based on the site information and the obstacle information includes:

and acquiring the number of obstacles in the test field, and performing information combination on the obstacle information of each obstacle and the field information to generate a test scene of the test field in the test coordinate system.

Optionally, the performing a pose test on the test object based on the test scene includes:

and acquiring test pose data of the test object, and generating a test motion track of the test object in the test scene based on the test pose data.

Optionally, the acquiring test pose data of the test object, and generating a test motion trajectory of the test object in the test scene based on the test pose data includes:

determining the test position and the test direction of the test object at each moment in a preset time interval based on the test scene;

and generating a test motion track of the test object in the time interval based on each test position and the test direction.

In a second aspect, an embodiment of the present invention further provides a test scenario generating apparatus, where the apparatus includes:

the field information determining module is used for acquiring the field position of a test field and determining the field information of the test field based on the field position;

the obstacle information determining module is used for acquiring the position of an obstacle in the test field and determining the obstacle information in the test field on the basis of the position of the obstacle;

and the test scene generation module is used for generating a test scene of the test field based on the field information and the obstacle information so as to perform pose test on a test object based on the test scene.

In a third aspect, an embodiment of the present invention further provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the test scenario generation method of any of the embodiments of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, where computer instructions are stored, and the computer instructions are configured to, when executed by a processor, implement the test scenario generation method according to any embodiment of the present invention.

The technical scheme of the embodiment of the invention specifically comprises the steps of obtaining the site position of a test site, and determining the site information of the test site based on the site position; acquiring the position of an obstacle in a test field, and determining the information of the obstacle in the test field based on the position of the obstacle; and generating a test scene of the test site based on the site information and the obstacle information so as to perform pose test on the test object based on the test scene. According to the technical scheme, the test scene is established based on the barrier information and the field information by determining the field information of the test field and the barrier information in the test field, and the test object is tested in the test scene to obtain the test result corresponding to the test scene, so that the problem of reduction of the precision of the test result caused by the step of fusing the later-stage track and the scene is avoided, and the accuracy of the test result is improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a flowchart of a test scenario generation method according to an embodiment of the present invention;

fig. 2 is a flowchart of a test scenario generation method according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a test scenario generation apparatus according to a third embodiment of the present invention;

fig. 4 is a schematic structural diagram of an electronic device implementing the test scenario generation method according to the embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

It is understood that before the technical solutions disclosed in the embodiments of the present disclosure are used, the type, the use range, the use scene, etc. of the personal information related to the present disclosure should be informed to the user and obtain the authorization of the user through a proper manner according to the relevant laws and regulations.

For example, in response to receiving an active request from a user, a prompt message is sent to the user to explicitly prompt the user that the requested operation to be performed would require the acquisition and use of personal information to the user. Thus, the user can autonomously select whether to provide personal information to software or hardware such as an electronic device, an application program, a server, or a storage medium that performs the operations of the disclosed technical solution, according to the prompt information.

As an optional but non-limiting implementation manner, in response to receiving an active request from the user, the manner of sending the prompt information to the user may be, for example, a pop-up window, and the prompt information may be presented in a text manner in the pop-up window. In addition, a selection control for providing personal information to the electronic device by the user's selection of "agreeing" or "disagreeing" can be carried in the pop-up window.

It is understood that the above notification and user authorization process is only illustrative and not limiting, and other ways of satisfying relevant laws and regulations may be applied to the implementation of the present disclosure.

It will be appreciated that the data involved in the subject technology, including but not limited to the data itself, the acquisition or use of the data, should comply with the requirements of the corresponding laws and regulations and related regulations.

Example one

Fig. 1 is a flowchart of a test scenario generation method provided in an embodiment of the present invention, where the embodiment is applicable to a situation where a test object is tested under a specific situation, the method may be executed by a test scenario generation apparatus, the test scenario generation apparatus may be implemented in a form of hardware and/or software, and the test scenario generation apparatus may be configured in an intelligent terminal or a cloud server.

At present, in the process of performing an action test on a test object, a mode is usually adopted to determine that the test object only captures the test object itself in the test process, that is, to obtain a relative motion track of the test object in the test process, and to combine the relative motion track with each test scene in the later stage to determine a test result of the test object in the test scene. However, the operation of combining the motion trajectory with the test scene in the above test method may affect the precision of the test result, and the accuracy of the test result may be reduced.

In order to solve the technical problem, an embodiment of the present invention provides a test scenario generation method, where a test scenario is set up and a test object is tested in the scenario to obtain a test result corresponding to the test scenario, so as to avoid a problem of reduction in precision of the test result due to a step of fusing a later-stage trajectory and the scenario, thereby improving accuracy of the test result.

As shown in fig. 1, the method includes:

s110, obtaining the site position of the test site, and determining the site information of the test site based on the site position.

In the embodiment of the invention, the test site is a site for testing the test object. The test site can be a closed indoor area or an open outdoor area, and the implementation does not limit the type of the test site and the size of the test site. The test object may be a robot, an automobile or other equipment for testing, and is not limited thereto. If the test object is a test robot, the test items include, but are not limited to, items such as map exploration, path planning, path finding, navigation, and obstacle avoidance, and accordingly, in this embodiment, a test scene of a test site is determined in advance, and the test robot is tested based on the test scene, so that whether the test robot performs a test according to a predetermined test track can be determined, and accuracy of a test result can be improved.

In order to obtain the absolute motion trajectory of the test object in the test field, optionally, the technical scheme of this embodiment obtains a preset initial coordinate system before the test is performed, and determines the origin of the test coordinate based on the test field; and determining a test coordinate system corresponding to the test site based on the test coordinate origin and the initial coordinate system so as to determine site information and obstacle information of the test site based on the test coordinate system.

The initial coordinate system includes a virtual coordinate origin and a virtual positive X-axis direction and a virtual positive Y-axis direction in the initial coordinate system. In other words, the initial coordinate system is a virtual coordinate system to be generated, that is, when the coordinate system is combined with any actual test site, a test coordinate system corresponding to the test site can be generated.

Specifically, a test site is obtained, a virtual coordinate origin in an initial coordinate system is mapped to a preset test point in the test site, and a test coordinate origin corresponding to the test site is generated. The virtual positive X-axis direction in the initial coordinate system is mapped with a preset direction in the test site, the positive test X-axis direction of the test site is determined, the direction orthogonal to the positive test X-axis direction is determined to be used as the positive test Y-axis direction of the test site, and then a test coordinate system corresponding to the test site is constructed based on the original point of the test coordinate, the positive test X-axis direction and the positive test Y-axis direction.

It should be noted that the preset test point in the test field may be a central point in the test field, or may be any edge position point of the test field. For example, when the test site is a square area, the test point can be the center point of the square or the vertex of the square; when the test site is a circular area, for example, the test point may be the center of the circle or may be a point on the circumference of the circle.

Specifically, on the basis of determining a test coordinate system corresponding to the test site, site information and obstacle information of the test site are determined based on the test coordinate system.

It should be noted that the site information of the test site may be understood as a position coordinate of the site in the test coordinate system and an outline of the site. The obstacle information may be understood as the number of obstacles in the test field, the position of each obstacle in the test coordinate system, and the size of each obstacle.

Optionally, the method for determining the site information of the test site based on the test coordinate system in this embodiment may include: determining the coordinates of the edge positions of at least one field in the test coordinate system based on the test coordinate system; and determining the field information of the test field based on the test coordinate system and the edge position coordinates of each field.

Alternatively, the site area to which the test site belongs is determined, and the site edge position may be understood as an area vertex of the site area. Specifically, a test coordinate origin of the field area is predetermined, and a test coordinate system corresponding to the indoor area is determined based on the test coordinate origin and the initial coordinate system. Optionally, a midpoint of the field area may be determined, and the midpoint may be used as a test coordinate origin of the field area, or an area vertex of the field area may be used as the test coordinate origin of the field area. Of course, if the test site is an open outdoor area, a position point with a preset distance away from the vertex of the area may be selected as the origin of the test coordinate, which is not limited herein. Optionally, determining each region vertex in the field region, determining a vertex position coordinate of each vertex position in the test coordinate system, and determining a field contour of the field based on each vertex position coordinate.

And acquiring preset measuring equipment, and associating the measuring equipment with the test coordinate system in advance, so that the position point measured by the measuring equipment can be displayed in the test coordinate system. For example, the measuring device may include a measuring pen, and accordingly, the vertex of the measuring pen is placed at the vertex position of the test room, so as to measure the field edge position coordinates of the current test room, that is, the contour points of the room. And measuring each contour point of the current test room based on the mode, uploading each measured contour point to a device for executing the method based on the measuring pen, and displaying each received contour point in a test coordinate system by the device to determine the coordinate position of each contour point in the test coordinate system. Optionally, the coordinate positions in the test coordinate system are connected to obtain the outline of the test room.

It should be noted that, in the above-mentioned measuring process, it is required to ensure that the order of the measurement of the point information is the same direction (counterclockwise or clockwise), so as to ensure that the profile formed subsequently is a closed profile.

And S120, acquiring the position of the obstacle in the test field, and determining the obstacle information in the test field based on the position of the obstacle.

In the embodiment of the invention, different types and different numbers of obstacles are required to be set in a test field in advance for different test tasks, so that different test scenes are generated. Optionally, the method for determining obstacle information in a test field based on a test coordinate system in this embodiment may include: for any obstacle, determining the center point coordinate of the current obstacle based on the test coordinate system; obtaining the barrier type of the current barrier, and determining at least one barrier edge position coordinate of the current barrier based on the barrier type and the center point coordinate; and determining the obstacle information of the current obstacle in the test field based on the test coordinate system and the edge position coordinates of each obstacle.

In order to ensure that the test result is quantifiable, the obstacles preset in the test field in this embodiment are all regularly-shaped obstacles, and the types of the obstacles can be divided into other types such as squares, circles, triangles and the like based on the obstacles.

Specifically, a center point of the obstacle is determined, and center point coordinates of the center point of the obstacle in a measurement coordinate system are determined based on the measurement device.

Optionally, if the obstacle is a square obstacle, determining the side length of the current obstacle based on a preset obstacle side length threshold, and determining edge position coordinates, i.e., vertex coordinates, of each vertex of the obstacle in the test coordinate system based on the side length and the center point coordinates. And connecting the coordinates of each vertex in the test coordinate system to obtain the contour of the current square obstacle.

Optionally, if the obstacle is a circular obstacle, determining a radius size of the current obstacle based on a preset obstacle radius size, and determining an edge position coordinate, that is, a circumference point coordinate of a circumference point of a preset position of the obstacle in the test coordinate system based on the radius size and the center point coordinate. And (4) associating the coordinates of all the circumferential points in the test coordinate system to obtain the contour of the current circular obstacle.

Optionally, if the obstacle is an obstacle of another polygon, the edge position point of the current polygon obstacle may be measured by the measuring device, and the edge position coordinates are displayed in the test coordinate system, so that the contour of the current polygon obstacle is generated based on each edge position coordinate in the test coordinate system.

And S130, generating a test scene of the test field based on the field information and the obstacle information, and carrying out pose test on the test object based on the test scene.

In an embodiment of the present invention, a method for generating a test scenario of a test site may include: and acquiring the number of the obstacles in the test field, and performing information combination on the obstacle information and the field information of each obstacle to generate a test scene of the test field in a test coordinate system.

Specifically, the number of obstacles included in the test site is determined, and the obstacle information of each obstacle is determined based on the above embodiment. And further combining the site information of the test site and the obstacle information of each obstacle in a test coordinate system to generate a test scene comprising the site and the obstacles. Optionally, the generated test scenario is saved, and when a test requirement corresponding to the test scenario is determined, the test object is tested based on the test scenario.

The technical scheme of the embodiment of the invention specifically comprises the steps of obtaining the site position of a test site, and determining the site information of the test site based on the site position; acquiring the position of an obstacle in a test field, and determining the information of the obstacle in the test field based on the position of the obstacle; and generating a test scene of the test site based on the site information and the obstacle information so as to perform pose test on the test object based on the test scene. According to the technical scheme, the field information of the test field and the obstacle information in the test field are determined, the test scene is built based on the obstacle information and the field information, the test object is tested in the test scene, the test result corresponding to the test scene is obtained, the problem that the precision of the test result is reduced due to the fact that the track and the scene are fused in the later stage is solved, and therefore the accuracy of the test result is improved.

Example two

Fig. 2 is a flowchart of a test scenario generation method according to a second embodiment of the present invention, where this embodiment optionally performs a pose test on a test object based on a test scenario on the basis of the foregoing embodiment, and includes:

and acquiring test pose data of the test object, and generating a test motion track of the test object in the test scene based on the test pose data. As shown in fig. 2, the method includes:

s210, acquiring the site position of the test site, and determining the site information of the test site based on the site position.

S220, obtaining the position of the obstacle in the test field, and determining the obstacle information in the test field based on the position of the obstacle.

And S230, generating a test scene of the test site based on the site information and the obstacle information, and performing pose test on the test object based on the test scene.

S240, test pose data of the test object are obtained, and a test motion track of the test object in the test scene is generated based on the test pose data.

In the embodiment of the invention, the test requirement is determined before the test object is tested, the corresponding test scene is determined based on the test requirement, and the test object is further tested in the test scene to obtain the absolute motion track of the test object in the test coordinate system corresponding to the test scene.

Optionally, the method for generating an absolute motion trajectory may include determining a test position and a test direction of the test object at each time within a preset time interval based on the test scene; and generating a test motion track of the test object in the time interval based on each test position and the test direction.

In this embodiment, the test pose data further includes direction data of the test object in the test process on the basis of the position data of the test object. Alternatively, the front of the test object may be used as the test direction of the test object.

Specifically, a test scene corresponding to the test requirement and a test coordinate system corresponding to the test scene are determined, an initial position of the test object in the test coordinate system is determined, and the test of the test object in the test scene is started based on the initial position. Specifically, for the next moment, the Marker points pasted on the surface of the test object can be collected from different angles through the high-speed cameras, meanwhile, the settlement is carried out on the Marker points by combining a rigid body calculation algorithm, the test position of the test object at the next moment is determined, the test coordinate position of the test object in the test coordinate system is determined, and then the positive direction of the test object is taken as the test direction of the test object at the next moment.

Optionally, the test position and the test direction of the test object at each time within the preset time interval are determined based on the above embodiment, and a connection is performed in the test coordinate system based on the test position and the test direction, so as to generate an absolute motion trajectory of the test object in the test coordinate system.

The technical scheme of the embodiment of the invention specifically comprises the steps of obtaining the site position of a test site, and determining the site information of the test site based on the site position; acquiring the position of an obstacle in a test field, and determining the information of the obstacle in the test field based on the position of the obstacle; and generating a test scene of the test site based on the site information and the obstacle information so as to perform pose test on the test object based on the test scene. According to the technical scheme, the test scene is established based on the barrier information and the field information by determining the field information of the test field and the barrier information in the test field, the test object is tested in the test scene, the absolute motion track of the test object in the test scene is obtained, the problem that the precision of the test result is reduced due to the fact that the track and the scene are fused in the later stage is solved, and therefore the accuracy of the test result is improved.

EXAMPLE III

Fig. 3 is a schematic structural diagram of a test scenario generation apparatus according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: a site information determination module 310, an obstacle information determination module 320, and a test scenario generation module 330; wherein the content of the first and second substances,

the field information determining module 310 is configured to obtain a field position of a test field, and determine field information of the test field based on the field position;

the obstacle information determination module 320 is configured to obtain an obstacle position in the test site, and determine obstacle information in the test site based on the obstacle position;

a test scene generating module 330, configured to generate a test scene of the test site based on the site information and the obstacle information, so as to perform a pose test on a test object based on the test scene.

On the basis of the foregoing embodiment, optionally, the apparatus further includes:

before acquiring the site location of the test site, the method further comprises:

the test coordinate system determination module is used for acquiring a preset initial coordinate system, determining a test coordinate system of the test site in the test coordinate system, and determining site information and obstacle information of the test site based on the test coordinate system.

On the basis of the foregoing embodiment, optionally, the venue information determining module 310 includes:

the field edge position coordinate determination unit is used for determining the coordinates of at least one field edge position of the test field in each field edge position in the test coordinate system based on the test coordinate system;

and the field information determining unit is used for determining the field information of the test field based on the test coordinate system and the edge position coordinates of each field.

On the basis of the foregoing embodiment, optionally, the obstacle information determining module 320 includes:

the central point coordinate determination unit is used for determining the central point coordinate of the current obstacle based on the test coordinate system for any obstacle;

the obstacle edge position coordinate determination unit is used for acquiring the obstacle type of the current obstacle and determining at least one obstacle edge position coordinate of the current obstacle based on the obstacle type and the center point coordinate;

and the obstacle information determining unit is used for determining the obstacle information of the current obstacle in the test field based on the test coordinate system and the edge position coordinates of each obstacle.

On the basis of the foregoing embodiment, optionally, the test scenario generating module 330 includes:

and the test scene generation unit is used for acquiring the number of the obstacles in the test field, performing information combination on the obstacle information of each obstacle and the field information, and generating a test scene of the test field in the test coordinate system.

and the test motion track generating unit is used for acquiring test pose data of the test object and generating a test motion track of the test object in the test scene based on the test pose data.

On the basis of the foregoing embodiment, optionally, the test motion trajectory generating unit includes:

the position and direction determining subunit is used for determining the test position and the test direction of the test object at each moment in a preset time interval based on the test scene;

and the test motion track generation subunit is used for generating a test motion track of the test object in the time interval based on each test position and the test direction.

The test scenario generation device provided by the embodiment of the invention can execute the test scenario generation method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

Example four

FIG. 4 illustrates a block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to the bus 14.

A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.

Processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various dedicated Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, and so forth. Processor 11 performs the various methods and processes described above, such as the test scenario generation method.

In some embodiments, the test scenario generation method may be implemented as a computer program that is tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the test scenario generation method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the test scenario generation method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.

It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A test scenario generation method is characterized by comprising the following steps:

generating a test scene of the test field based on the field information and the obstacle information so as to perform pose testing on a test object based on the test scene.

2. The method of claim 1, further comprising, prior to obtaining a site location for the test site:

acquiring a preset initial coordinate system, and determining a test coordinate origin based on the test site;

and determining a test coordinate system corresponding to the test field based on the test coordinate origin and the initial coordinate system so as to determine field information and obstacle information of the test field based on the test coordinate system.

3. The method of claim 1, wherein obtaining a site location of a test site and determining site information for the test site based on the site location comprises:

4. The method of claim 1, wherein the obtaining the location of the obstacle in the test field and determining the obstacle information in the test field based on the location of the obstacle comprises:

5. The method of claim 1, wherein generating the test scenario for the test site based on the site information and the obstacle information comprises:

6. The method of claim 1, wherein the pose testing of the test object based on the test scenario comprises:

7. The method of claim 6, wherein the obtaining test pose data for the test object and generating a test motion trajectory for the test object in the test scene based on the test pose data comprises:

8. A test scenario generation apparatus, comprising:

the obstacle information determining module is used for acquiring the position of an obstacle in the test field and determining the obstacle information in the test field based on the position of the obstacle;

and the test scene generation module is used for generating a test scene of the test field based on the field information and the barrier information so as to perform pose test on a test object based on the test scene.

9. An electronic device, characterized in that the electronic device comprises:

at least one processor; and

the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the test scenario generation method of any of claims 1-7.

10. A computer-readable storage medium storing computer instructions for causing a processor to implement the test scenario generation method of any one of claims 1-7 when executed.