Method, device, equipment, and storage medium for determining sensor solution

A device for determining a sensor solution, applied to terminal equipment, comprising:

• at least one processor;
• and
• a memory communicatively connected with the at least one processor;
• wherein,
• the memory stores instructions executable by the at least one processor, and the instructions, when executed by the at least one processor, cause the at least one processor to:
• establish a simulated unmanned vehicle and a simulation scene, wherein the simulation scene is used for the simulated unmanned vehicle to perform simulation driving;
• determine a first sensor solution according to a initialization parameter, and determine, according to the first sensor solution, simulation data generated by the simulation unmanned vehicle during the simulation driving in the simulation scene;
• and
• determine a first perception parameter of the first sensor solution according to the simulation data and correct the first sensor solution according to the first perception parameter to obtain a sensor solution applied to an unmanned vehicle for operation of the unmanned vehicle;
• wherein the simulation scene comprises a static simulation scene and a dynamic simulation scene, and the dynamic simulation scene comprises at least one dynamic sub-simulation scene;
• and the instructions further cause the at least one processor to:
• determine, according to the first sensor solution, first sub-simulation data generated by the simulated unmanned vehicle during the simulation driving in the static simulation scene;
• determine the first perception parameter of the first sensor solution according to the first sub-simulation data, and correct the first sensor solution according to the first perception parameter to obtain a second sensor solution;
• determine, according to the second sensor solution, at least one second sub-simulation data generated by the simulated unmanned vehicle during the simulation driving in the at least one dynamic sub-simulation scene;
• and
• determine a second perception parameter of the second sensor solution according to each second sub-simulation data of the at least one second sub-simulation data, correct, according to the second perception parameter, the second sensor solution to obtain a third sensor solution, and use the third sensor solution as the sensor solution applied to the unmanned vehicle for the operation of the unmanned vehicle.

A non-transitory computer readable storage medium storing computer instructions, wherein the computer instructions are used for causing the computer to:

• establish a simulated unmanned vehicle and a simulation scene, wherein the simulation scene is used for the simulated unmanned vehicle to perform simulation driving;
• determine a first sensor solution according to a initialization parameter, and determine, according to the first sensor solution, simulation data generated by the simulation unmanned vehicle during the simulation driving in the simulation scene;
• and
• determine a first perception parameter of the first sensor solution according to the simulation data and correct the first sensor solution according to the first perception parameter to obtain a sensor solution applied to an unmanned vehicle for operation of the unmanned vehicle;
• wherein the simulation scene comprises a static simulation scene and a dynamic simulation scene, and the dynamic simulation scene comprises at least one dynamic sub-simulation scene;
• and the computer instructions are used for further causing the computer to:
• determine, according to the first sensor solution, first sub-simulation data generated by the simulated unmanned vehicle during the simulation driving in the static simulation scene;
• determine the first perception parameter of the first sensor solution according to the first sub-simulation data, and correct the first sensor solution according to the first perception parameter to obtain a second sensor solution;
• determine, according to the second sensor solution, at least one second sub-simulation data generated by the simulated unmanned vehicle during the simulation driving in the at least one dynamic sub-simulation scene;
• and
• determine a second perception parameter of the second sensor solution according to each second sub-simulation data of the at least one second sub-simulation data, correct, according to the second perception parameter, the second sensor solution to obtain a third sensor solution, and use the third sensor solution as the sensor solution applied to the unmanned vehicle for the operation of the unmanned vehicle.