CN113138084A - Method, device and equipment for adjusting virtual traffic flow - Google Patents
Method, device and equipment for adjusting virtual traffic flow Download PDFInfo
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Abstract
The application relates to the technical field of vehicle networking and discloses a method for adjusting virtual traffic flow. The method comprises the following steps: acquiring a doubling request; determining a first virtual vehicle and a second virtual vehicle of a headway to be adjusted in a preset virtual traffic flow according to a merging request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the doubling request; and responding to the doubling request, adjusting the first head hour distance between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second head hour distance. The first locomotive time distance between the first virtual vehicle and the second virtual vehicle is adjusted to obtain the adjusted second locomotive time distance, so that the adjustment of the virtual traffic flow in the parallel test process is realized, various parallel test environments are generated, and the test environment for the parallel test of the automatic driving vehicle is enriched. The application also discloses a device and equipment for adjusting the virtual traffic flow.
Description
Technical Field
The present application relates to the field of car networking technologies, and in particular, to a method, an apparatus, and a device for adjusting a virtual traffic flow.
Background
The intelligent network connection automobile road test process needs to be tested in various test scenes, some complex working conditions need to coordinate a plurality of vehicles, pedestrians and road facilities, the test cost is high, the efficiency is low, part of dangerous working conditions are difficult to be tested in actual road tests, and special simulation equipment needs to be used for assisting in testing. For example, in the automatic driving parallel test, a plurality of vehicles need to be mobilized for testing, and for the consideration of cost and safety, the real vehicle cannot be used for testing in an actual situation, and the test is performed in a mode of generating a virtual traffic flow in the prior art.
In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art: in the prior art, a virtual vehicle in a virtual traffic flow runs at a preset speed or acceleration and cannot be adjusted in a parallel test process, so that the test environment of the parallel test of the automatic driving vehicle is very single.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
The embodiment of the disclosure provides a method, a device and equipment for adjusting virtual traffic flow, so as to improve the richness of a test environment for performing a parallel test on an automatic driving vehicle.
In some embodiments, the method for adjusting virtual traffic flow comprises:
acquiring a doubling request;
determining a first virtual vehicle and a second virtual vehicle of a time headway to be adjusted in a preset virtual traffic flow according to the doubling request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the doubling request;
responding to the doubling request, adjusting a first head hour distance between the first virtual vehicle and the second virtual vehicle, and obtaining an adjusted second head hour distance.
In some embodiments, the apparatus comprises: a processor and a memory storing program instructions, the processor being configured to, upon execution of the program instructions, perform the method for adjusting virtual traffic flow described above.
The method, the device and the equipment for adjusting the virtual traffic flow provided by the embodiment of the disclosure can realize the following technical effects: determining a first virtual vehicle and a second virtual vehicle of a headway to be adjusted in a preset virtual traffic flow according to a merging request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the doubling request; and responding to the doubling request, adjusting the first head hour distance between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second head hour distance. Through adjusting the first locomotive time distance between the first virtual vehicle and the second virtual vehicle of waiting to adjust the locomotive time distance in the virtual traffic flow, obtain the second locomotive time distance after the adjustment, realized the adjustment to the virtual traffic flow in the doubling test process for can generate the multiple required doubling test environment that is used for the automatic driving vehicle, thereby richened the test environment that the automatic driving vehicle carries out the doubling test.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
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One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:
FIG. 1 is a schematic diagram of a method for adjusting virtual traffic flow provided by an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an apparatus for adjusting virtual traffic flow according to an embodiment of the present disclosure.
Detailed Description
So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.
The terms "first," "second," and the like in the description and in the claims, and the above-described drawings of embodiments of the present disclosure, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
The term "plurality" means two or more unless otherwise specified.
In the embodiment of the present disclosure, the character "/" indicates that the preceding and following objects are in an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes objects, meaning that three relationships may exist. For example, a and/or B, represents: a or B, or A and B.
Referring to fig. 1, an embodiment of the present disclosure provides a method for adjusting a virtual traffic flow, including:
step S101, obtaining a doubling request;
step S102, determining a first virtual vehicle and a second virtual vehicle of a headway to be adjusted in a preset virtual traffic flow according to a parallel request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the doubling request;
step S103, responding to the doubling request, adjusting the first head hour distance between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second head hour distance.
By adopting the method for adjusting the virtual traffic flow, the first virtual vehicle and the second virtual vehicle of the time headway to be adjusted are determined in the preset virtual traffic flow according to the parallel request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the doubling request; and responding to the doubling request, adjusting the first head hour distance between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second head hour distance. Through adjusting the first locomotive time distance between the first virtual vehicle and the second virtual vehicle of waiting to adjust the locomotive time distance in the virtual traffic flow, obtain the second locomotive time distance after the adjustment, realized the adjustment to the virtual traffic flow in the doubling test process for can generate the multiple required doubling test environment that is used for the automatic driving vehicle, thereby richened the test environment that the automatic driving vehicle carries out the doubling test.
Optionally, the obtaining the merge request includes: receiving a parallel connection request sent by a road side unit; the merging request is sent by the road side unit under the condition that the road side unit detects that the test vehicle sends a turn signal; the merge request carries lane direction information corresponding to the turn signal.
Optionally, the sending out the turn signal by the test vehicle comprises: the test vehicle turns on the left turn light, or the test vehicle turns on the right turn light.
Optionally, the lane direction information corresponding to the left turn signal is left lane direction information; the lane direction information corresponding to the right turn signal is right lane direction information.
In some embodiments, in the case where the test vehicle turns on the left turn signal, then the merge request of the test vehicle is to merge in the left lane direction; in the case where the test vehicle turns on the right turn lamp, the doubling request of the test vehicle is to perform doubling in the right lane direction.
Optionally, determining a first virtual vehicle and a second virtual vehicle of a headway to be adjusted in a preset virtual traffic flow according to the merging request, including: determining a virtual lane corresponding to the lane direction information in the virtual traffic flow as a target merging lane; determining a virtual vehicle which is closest to the test vehicle in the target parallel lane as a second virtual vehicle; and determining a preceding vehicle of the second virtual vehicle as the first virtual vehicle.
In some embodiments, in a case where the merge request of the test vehicle is to merge in the left lane direction, a virtual lane corresponding to the left lane direction information in the virtual traffic flow is determined as the target merge lane; and under the condition that the merging request of the test vehicle is to merge in the right lane direction, determining a virtual lane corresponding to the right lane direction information in the virtual traffic flow as a target merging lane.
Optionally, adjusting a first headway time between the first virtual vehicle and the second virtual vehicle includes: adjusting the first head time interval according to one or more preset modes of a first mode, a second mode and a third mode; wherein the first mode, the second mode, and the third mode are used to characterize different driving styles of the virtual vehicles in the virtual flow.
Like this, through adjusting the first locomotive time interval between first virtual vehicle and the virtual vehicle of second according to different modes, can obtain the second locomotive time interval that different modes correspond to obtain multiple required doubling test environment that is used for the automatic driving vehicle, enriched the test environment that the automatic driving vehicle carries out the doubling test.
Optionally, the first mode is a tightening mode, the second mode is a comity mode, and the third mode is an override mode. The first mode is used for representing that the driving style of the virtual traffic flow in the virtual traffic flow is an approaching mode, the second mode is used for representing that the driving style of the virtual traffic flow in the virtual traffic flow is a concessional mode, and the third mode is used for representing that the driving style of the virtual traffic flow in the virtual traffic flow is an ignoring mode; the driving styles of the virtual vehicles characterized by the first mode, the second mode and the third mode are different.
Optionally, adjusting the first headway time according to a preset first mode includes: acquiring a first sensitivity coefficient corresponding to a first mode, acquiring displacement corresponding to a first virtual vehicle in the first mode, and acquiring displacement corresponding to a second virtual vehicle in the first mode; calculating the first sensitivity coefficient, the displacement corresponding to the first virtual vehicle in the first mode and the displacement corresponding to the second virtual vehicle in the first mode by using a first preset algorithm to obtain a first acceleration corresponding to the second virtual vehicle; determining a first target time interval in a first head time interval range corresponding to the first mode; acquiring a first target acceleration corresponding to a first target time interval; the first acceleration of the second virtual vehicle is adjusted to a first target acceleration such that a first headway time between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway time.
Optionally, acquiring a first sensitivity coefficient corresponding to the first mode includes: acquiring a first parameter group corresponding to a first mode, wherein the speed of a second virtual vehicle at the moment of T + T in the first mode, the displacement corresponding to a first virtual vehicle in the first mode and the displacement corresponding to a second virtual vehicle in the first mode; and acquiring a first sensitivity coefficient corresponding to the first mode according to the first parameter set, the displacement corresponding to the first virtual vehicle in the first mode and the displacement corresponding to the second virtual vehicle in the first mode.
Optionally, the first parameter group corresponding to the first mode includes a constant parameter corresponding to the first mode, a first reference parameter corresponding to the first mode, and a second reference parameter corresponding to the first mode. Optionally, a constant parameter corresponding to the first mode
First reference parameter l corresponding to the first mode10.1; second reference parameter m corresponding to the first mode1＝2.5。
Optionally by calculation
Obtaining a first sensitivity coefficient corresponding to a first mode; wherein λ is1Is the first coefficient of sensitivity, x1，1(t) is the corresponding displacement of the first virtual vehicle at time t in the first mode, x1，2(T) is the corresponding displacement of the second virtual vehicle at the moment T in the first mode, T is the preset reaction time,
constant parameter, l, corresponding to the first mode1A first reference parameter, m, corresponding to the first mode1Is a second reference parameter, x 'corresponding to the first mode'1，2(T + T) is the speed of the second virtual vehicle at time T + T in the first mode.
Optionally, a first derivative of displacement corresponding to the first virtual vehicle at the time t in the first mode with respect to time is obtained, and a speed of the first virtual vehicle at the time t in the first mode is obtained; and solving a second derivative of the displacement corresponding to the first virtual vehicle at the time t in the first mode with respect to time to obtain the acceleration of the first virtual vehicle at the time t in the first mode.
Optionally, a first derivative of displacement corresponding to the second virtual vehicle at the time t in the first mode with respect to time is obtained, and a speed of the second virtual vehicle at the time t in the first mode is obtained; and solving a second derivative of the displacement of the second virtual vehicle corresponding to the time t in the first mode to obtain the acceleration of the second virtual vehicle at the time t in the first mode.
Alternatively, by calculating x "1，2(t+T)＝λ1[x'1，1(t)-x'1，2(t)]Obtaining a first acceleration corresponding to the second virtual vehicle; wherein, x "1，2(T + T) is a first acceleration, λ, corresponding to the second virtual vehicle1Is a first coefficient of sensitivity, x'1，1(t) is the speed, x 'of the first virtual vehicle at time t in the first mode'1，2(t) is the speed of the second virtual vehicle at time t in the first mode.
Optionally, the first headway time interval range corresponding to the first mode is 1.2s to 2 s. Optionally, a value randomly selected from the first headway time range is determined as the first target time range, and the range of the first target time range is 1.2s < Q1Less than 2 s; wherein Q is1Is a first target time interval.
Optionally, acquiring a first target acceleration corresponding to the first target time interval includes: by calculation of
Obtaining a first target acceleration corresponding to a first target time interval; wherein, x "1，2(T + T) is a first target acceleration, x'1，2(t) speed of the second virtual vehicle at time t in the first mode, Q1Is a first target time distance, x'1，1(t) is the speed, x, of the first virtual vehicle at time t in the first mode "1，1(t) is the acceleration of the first virtual vehicle at time t in the first mode.
In some embodiments, the first acceleration is adjusted according to a first preset value every a first preset time, the adjusted first acceleration is calculated every the first preset time to obtain an adjusted third headway, the third headway is compared with the first target headway, the first acceleration is continuously adjusted under the condition that the third headway does not reach the first target headway until the third headway is the same as the first target headway, and the third headway which is the same as the first target headway is determined as the second headway.
Optionally, the adjusting of the first acceleration of the second virtual vehicle is stopped after adjusting the first headway between the first virtual vehicle and the second virtual vehicle to the second headway.
Like this, through the first acceleration adjustment with the virtual vehicle of second to can be with first locomotive time interval adjustment for second locomotive time interval, realized the adjustment to virtual traffic, and enriched the test environment that automatic driving vehicle carries out the doubling test.
Optionally, adjusting the first headway time according to a preset second mode includes: acquiring a second sensitivity coefficient corresponding to a second mode, acquiring displacement corresponding to a first virtual vehicle in the second mode, and acquiring displacement corresponding to a second virtual vehicle in the second mode; calculating a second sensitivity coefficient, the displacement corresponding to the first virtual vehicle in the second mode and the displacement corresponding to the second virtual vehicle in the second mode by using a second preset algorithm to obtain a second acceleration corresponding to the second virtual vehicle; determining a second target time interval in a first head time interval range corresponding to the second mode; acquiring a second target acceleration corresponding to a second target time interval; the second acceleration of the second virtual vehicle is adjusted to a second target acceleration such that a first headway time between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway time.
Optionally, acquiring a second sensitivity coefficient corresponding to the second mode includes: acquiring a second parameter group corresponding to a second mode, the speed of a second virtual vehicle at the T + T moment in the second mode, the displacement corresponding to a first virtual vehicle in the second mode, and the displacement corresponding to a second virtual vehicle in the second mode; and acquiring a second sensitivity coefficient corresponding to the second mode according to the second parameter set, the displacement corresponding to the first virtual vehicle in the second mode and the displacement corresponding to the second virtual vehicle in the second mode.
Optionally, the second parameter group corresponding to the second mode includes a constant parameter corresponding to the second mode, a first reference parameter corresponding to the second mode, and a second reference parameter corresponding to the second mode. Optionally, the constant parameter corresponding to the second modeNumber is
Optionally
The first reference parameter corresponding to the second mode is l2Optionally,/20.7; the second reference parameter corresponding to the second mode is m2Alternatively, m2＝2.5。
Optionally by calculation
Obtaining a second sensitivity coefficient corresponding to the second mode; wherein λ is2Is the second coefficient of sensitivity, x2，1(t) is the corresponding displacement of the first virtual vehicle at time t in the second mode, x2，2(T) is the corresponding displacement of the second virtual vehicle at the moment T in the second mode, T is the preset reaction time,
constant parameter, l, corresponding to the second mode2A first reference parameter, m, corresponding to the second mode2Is a second reference parameter, x 'corresponding to the second mode'2，2(T + T) is the speed of the second virtual vehicle at time T + T in the second mode.
Optionally, a first derivative of displacement corresponding to the first virtual vehicle at the time t in the second mode with respect to time is obtained, and a speed of the first virtual vehicle at the time t in the second mode is obtained; and solving a second derivative of the displacement corresponding to the first virtual vehicle at the time t in the second mode with respect to time to obtain the acceleration of the first virtual vehicle at the time t in the second mode.
Optionally, a first derivative of displacement corresponding to the second virtual vehicle at the time t in the second mode with respect to time is obtained, and a speed of the second virtual vehicle at the time t in the second mode is obtained; and solving a second derivative of the displacement of the second virtual vehicle corresponding to the time t in the second mode to obtain the acceleration of the second virtual vehicle at the time t in the second mode.
Alternatively, by calculating x "2，2(t+T)＝λ2[x'2，1(t)-x'2，2(t)]Obtaining a second acceleration corresponding to the second virtual vehicle; wherein, x "2，2(T + T) is a second acceleration, λ, corresponding to the second virtual vehicle2Is a second coefficient of sensitivity, x'2，1(t) is the speed, x 'of the first virtual vehicle at time t in the second mode'2，2And (t) is the speed of the second virtual vehicle at the time t in the second mode.
Optionally, the first headway time interval range corresponding to the second mode is 3.5s to 5 s. Optionally, a value randomly selected from the first head time interval range is determined as the second target time interval, and the range of the second target time interval is 3.5s < Q2Less than 5 s; wherein Q is2Is the second target time interval.
Optionally, acquiring a second target acceleration corresponding to a second target time interval includes: computing
Obtaining a second target acceleration corresponding to a second target time interval; wherein, x "2，2(T + T) is a second target acceleration, x'2，2(t) speed of the second virtual vehicle at time t in the second mode, Q2Is a second target time distance, x'2，1(t) is the speed, x ″, of the first virtual vehicle at time t in the second mode "2，1(t) acceleration of the first virtual vehicle at time t in the second mode, optionally, 3.5s < Q2＜5s。
In some embodiments, the second acceleration is adjusted according to a second preset value every second preset time, the adjusted second acceleration is calculated every second preset time to obtain an adjusted third headway, the third headway is compared with the second target headway, the second acceleration is continuously adjusted under the condition that the third headway does not reach the second target headway, and the third headway which is the same as the second target headway is determined as the second headway until the third headway is the same as the second target headway.
Like this, through the second acceleration adjustment with the virtual vehicle of second to can be with first locomotive time interval adjustment for second locomotive time interval, realized the adjustment to virtual traffic, and enriched the test environment that automatic driving vehicle carries out the doubling test.
Optionally, the adjusting of the second acceleration of the second virtual vehicle is stopped after adjusting the first headway between the first virtual vehicle and the second virtual vehicle to the second headway. In this way, by adjusting the second acceleration of the second virtual vehicle, the adjustment of the first headway between the second virtual vehicle and the first virtual vehicle is achieved.
Optionally, adjusting the first headway time according to a preset third mode includes: acquiring a third sensitivity coefficient corresponding to a third mode, acquiring displacement corresponding to the first virtual vehicle in the third mode, and acquiring displacement corresponding to the second virtual vehicle in the third mode; calculating a third sensitivity coefficient, a displacement corresponding to the first virtual vehicle in a third mode and a displacement corresponding to the second virtual vehicle in the third mode by using a third preset algorithm to obtain a third acceleration corresponding to the second virtual vehicle; determining a third target time interval in a first locomotive time interval range corresponding to the third mode; acquiring a third target acceleration corresponding to a third target time interval; the third acceleration of the second virtual vehicle is adjusted to a third target acceleration such that the first headway between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway.
Optionally, obtaining a third sensitivity coefficient corresponding to a third mode includes: acquiring a third parameter group corresponding to a third mode, the speed of a second virtual vehicle at the T + T moment in the third mode, the displacement corresponding to a first virtual vehicle in the third mode and the displacement corresponding to the second virtual vehicle in the third mode; and acquiring a third sensitivity coefficient corresponding to the third mode according to the third parameter set, the displacement corresponding to the first virtual vehicle in the third mode and the displacement corresponding to the second virtual vehicle in the third mode.
Optionally, the third parameter group corresponding to the third mode includes a constant parameter corresponding to the third mode, a first reference parameter corresponding to the third mode, and a third parameter corresponding to the third modeAnd a second reference parameter corresponding to the mode. Optionally, the constant parameter corresponding to the third mode is
Optionally
The first reference parameter corresponding to the third mode is l3Optionally,/30.3; the second reference parameter corresponding to the third mode is m3Alternatively, m3＝2.7。
Optionally, a pass meter
Obtaining a third sensitivity coefficient corresponding to a third mode; wherein λ is3Is the third sensitivity coefficient, x3，1(t) is the displacement of the first virtual vehicle at time t in the third mode, x3，2(T) is the displacement of the second virtual vehicle at the moment T in the third mode, T is the preset reaction time,
constant parameter, l, corresponding to the third mode3A first reference parameter, m, corresponding to the third mode3Is a second reference parameter, x 'corresponding to the third mode'3，2(T + T) is the speed of the second virtual vehicle at time T + T in the third mode.
Optionally, a first derivative of the position of the first virtual vehicle at the time t in the third mode with respect to time is obtained, and the speed of the first virtual vehicle at the time t in the third mode is obtained; and solving a second derivative of the position of the first virtual vehicle at the time t in the third mode with respect to time to obtain the acceleration of the first virtual vehicle at the time t in the third mode.
Optionally, a first derivative of a position of the second virtual vehicle at the time t in the third mode with respect to time is obtained, and a speed of the second virtual vehicle at the time t in the third mode is obtained; and solving a second derivative of the position of the second virtual vehicle at the time t in the third mode with respect to time to obtain the acceleration of the second virtual vehicle at the time t in the third mode.
Alternatively, by calculating x "3，2(t+T)＝λ3[x'3，1(t)-x'3，2(t)]Obtaining a third acceleration corresponding to the second virtual vehicle; wherein, x "3，2(T + T) is a third acceleration, λ, corresponding to the second virtual vehicle3Is a third coefficient of sensitivity, x'3，1(t) is the speed, x 'of the first virtual vehicle at time t in the third mode'3，2And (t) is the speed of the second virtual vehicle at time t in the third mode.
Optionally, the first headway time range corresponding to the third mode is 2s to 3.5 s. Optionally, a value randomly selected from the first headway time range is determined as a third target time range, and the range of the third target time range is 2s < Q3Less than 3.5 s; wherein Q is3Is the third target time interval.
Optionally, acquiring a third target acceleration corresponding to a third target time interval includes: computing
Obtaining a third target acceleration corresponding to a third target time interval; wherein, x "3，2(T + T) is a third target acceleration, x'3，2(t) speed of the second virtual vehicle at time t in the third mode, Q3Is a third target time distance, x'3，1(t) speed of the first virtual vehicle at time t, x "3，1(t) acceleration of the first virtual vehicle at time t in the third mode, optionally 2s < Q3＜3.5s。
In some embodiments, the third acceleration is adjusted according to a third preset value every third preset time, the adjusted third acceleration is calculated every third preset time to obtain an adjusted third headway, the third headway is compared with a third target headway, the third acceleration is continuously adjusted under the condition that the third headway does not reach the third target headway, and the third headway which is the same as the third target headway is determined as the second headway until the third headway is the same as the third target headway.
Like this, through the third acceleration adjustment with the virtual vehicle of second to can be with first locomotive time interval adjustment for second locomotive time interval, realized the adjustment to virtual traffic, and enriched the test environment that automatic driving vehicle carries out the doubling test.
Optionally, after adjusting the first headway between the first virtual vehicle and the second virtual vehicle to the second headway, stopping adjusting the third acceleration of the second virtual vehicle. Like this, adjust the first locomotive time interval between first virtual vehicle and the virtual vehicle of second according to the doubling request, obtain the second locomotive time interval after the adjustment, realized the adjustment to virtual traffic flow in the doubling test process for can generate the multiple required doubling test environment that is used for the autonomous driving vehicle, thereby richen the test environment that the autonomous driving vehicle carries out the doubling test.
Optionally, after obtaining the adjusted second headway, the method further includes: and sending the second head hour distance to the test vehicle through the road side unit.
Optionally, when the test vehicle receives the second head hour distance, the parallel operation is performed according to the second head hour distance.
As shown in fig. 2, an apparatus for adjusting a virtual traffic flow according to an embodiment of the present disclosure includes a processor (processor)100 and a memory (memory)101 storing program instructions. Optionally, the apparatus may also include a Communication Interface (Communication Interface)102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via a bus 103. The communication interface 102 may be used for information transfer. The processor 100 may call program instructions in the memory 101 to perform the method for adjusting virtual traffic of the above-described embodiment.
Further, the program instructions in the memory 101 may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product.
The memory 101, which is a computer-readable storage medium, may be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes functional applications and data processing, i.e., implements the method for adjusting virtual traffic flow in the above-described embodiments, by executing program instructions/modules stored in the memory 101.
The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. In addition, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory.
By adopting the device for adjusting the virtual traffic flow provided by the embodiment of the disclosure, the parallel request is obtained; determining a first virtual vehicle and a second virtual vehicle of a headway to be adjusted in a preset virtual traffic flow according to a merging request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the doubling request; and responding to the doubling request, adjusting the first head hour distance between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second head hour distance. Through adjusting the first locomotive time distance between the first virtual vehicle and the second virtual vehicle of waiting to adjust the locomotive time distance in the virtual traffic flow, obtain the second locomotive time distance after the adjustment, realized the adjustment to the virtual traffic flow in the doubling test process for can generate the multiple required doubling test environment that is used for the automatic driving vehicle, thereby richened the test environment that the automatic driving vehicle carries out the doubling test.
The embodiment of the disclosure provides a device, which comprises the above device for adjusting the virtual traffic flow. The equipment acquires a doubling request; determining a first virtual vehicle and a second virtual vehicle of a headway to be adjusted in a preset virtual traffic flow according to a merging request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the doubling request; and responding to the doubling request, adjusting the first head hour distance between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second head hour distance. Through adjusting the first locomotive time distance between the first virtual vehicle and the second virtual vehicle of waiting to adjust the locomotive time distance in the virtual traffic flow, obtain the second locomotive time distance after the adjustment, realized the adjustment to the virtual traffic flow in the doubling test process for can generate the multiple required doubling test environment that is used for the automatic driving vehicle, thereby richened the test environment that the automatic driving vehicle carries out the doubling test.
Optionally, the apparatus comprises: computers, servers, etc.
Optionally, the device obtains the parallel connection request through an RSU (Road Side Unit), and broadcasts the second headway time to an OBU (On board Unit) of the test vehicle through the RSU.
Embodiments of the present disclosure provide a computer-readable storage medium storing computer-executable instructions configured to perform the above-described method for adjusting virtual traffic flow.
The disclosed embodiments provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the above-described method for adjusting virtual traffic.
The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.
The technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, where the computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.
The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other like elements in a process, method or apparatus that comprises the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.
Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by the skilled person that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units may be merely a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between the different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (10)
1. A method for adjusting virtual traffic flow, comprising:
acquiring a doubling request;
determining a first virtual vehicle and a second virtual vehicle of a time headway to be adjusted in a preset virtual traffic flow according to the doubling request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the doubling request;
responding to the doubling request, adjusting a first head hour distance between the first virtual vehicle and the second virtual vehicle, and obtaining an adjusted second head hour distance.
2. The method of claim 1, wherein obtaining the merge request comprises: receiving a parallel connection request sent by a road side unit; the merging request is sent by the road side unit under the condition that the road side unit detects that the test vehicle sends a turn signal; the merge request carries lane direction information corresponding to the turn signal.
3. The method of claim 2, wherein determining the first virtual vehicle and the second virtual vehicle with headway to be adjusted in a preset virtual traffic flow according to the merging request comprises:
determining a virtual lane corresponding to the lane direction information in the virtual traffic flow as a target merging lane;
determining a virtual vehicle which is closest to the test vehicle in the target parallel lane as a second virtual vehicle; and determining a preceding vehicle of the second virtual vehicle as the first virtual vehicle.
4. The method of claim 1, wherein adjusting the first headway distance between the first virtual vehicle and the second virtual vehicle comprises:
adjusting the first head time interval according to one or more preset modes of a first mode, a second mode and a third mode; wherein the first mode, the second mode, and the third mode are used to characterize different driving styles of virtual vehicles in the virtual flow.
5. The method of claim 4, wherein adjusting the first headway time in accordance with a preset first pattern comprises:
acquiring a first sensitivity coefficient corresponding to the first mode, acquiring displacement corresponding to the first virtual vehicle in the first mode, and acquiring displacement corresponding to the second virtual vehicle in the first mode;
calculating the first sensitivity coefficient, the displacement corresponding to the first virtual vehicle in the first mode and the displacement corresponding to the second virtual vehicle in the first mode by using a first preset algorithm to obtain a first acceleration corresponding to the second virtual vehicle;
determining a first target time interval in a first head time interval range corresponding to the first mode; acquiring a first target acceleration corresponding to the first target time interval;
adjusting the first acceleration of the second virtual vehicle to a first target acceleration such that a first headway time between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway time.
6. The method of claim 4, wherein adjusting the first headway time in a second predetermined pattern comprises:
acquiring a second sensitivity coefficient corresponding to the second mode, acquiring displacement corresponding to the first virtual vehicle in the second mode, and acquiring displacement corresponding to the second virtual vehicle in the second mode;
calculating the second sensitivity coefficient, the displacement corresponding to the first virtual vehicle in the second mode and the displacement corresponding to the second virtual vehicle in the second mode by using a second preset algorithm to obtain a second acceleration corresponding to the second virtual vehicle;
determining a second target time interval in a first head time interval range corresponding to the second mode; acquiring a second target acceleration corresponding to the second target time interval;
adjusting a second acceleration of the second virtual vehicle to a second target acceleration such that a first headway time between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway time.
7. The method of claim 4, wherein adjusting the first headway time in accordance with a preset third pattern comprises:
acquiring a third sensitivity coefficient corresponding to the third mode, acquiring displacement corresponding to the first virtual vehicle in the third mode, and acquiring displacement corresponding to the second virtual vehicle in the third mode;
calculating the third sensitivity coefficient, the displacement corresponding to the first virtual vehicle in the third mode and the displacement corresponding to the second virtual vehicle in the first mode by using a third preset algorithm to obtain a third acceleration corresponding to the second virtual vehicle;
determining a third target time interval in a first head time interval range corresponding to the third mode; acquiring a third target acceleration corresponding to the third target time interval;
adjusting a third acceleration of the second virtual vehicle to a third target acceleration such that a first headway time between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway time.
8. The method of any of claims 1 to 7, wherein obtaining the adjusted second headway further comprises: and sending the second head hour distance to a test vehicle through a road side unit.
9. An apparatus for adjusting virtual traffic flow, comprising a processor and a memory storing program instructions, wherein the processor is configured to perform a method for adjusting virtual traffic flow according to any one of claims 1 to 8 when executing the program instructions.
10. An apparatus, characterized in that it comprises a device for adjusting a virtual traffic flow according to claim 9.
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