CN113138084B - 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 Internet of vehicles 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 which the headway is to be adjusted in a preset virtual vehicle 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 parallel line request; and responding to the parallel line request, adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second vehicle head time interval. The first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, of which the vehicle head time interval is to be adjusted, in the virtual vehicle flow is adjusted, so that the adjusted second vehicle head time interval is obtained, the adjustment of the virtual vehicle flow in the parallel testing process is realized, various parallel testing environments are generated, and the testing environment of the automatic driving vehicle for parallel testing 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 internet of vehicles, for example, to a method, an apparatus, and a device for adjusting virtual traffic.
Background
The intelligent network-connected automobile road test process needs to test 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 carried out in the actual road test, and special simulation equipment needs to be used for assisting in the test. For example, in automatic driving parallel testing, multiple vehicles need to be mobilized for testing, and for reasons of cost and safety, in practical situations, it is impossible to use a real vehicle for testing, and in the prior art, a mode of generating a virtual vehicle flow is used for testing.
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, virtual vehicles in the virtual traffic flow run according to preset speed or acceleration, and cannot be adjusted in the 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, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.
The embodiment of the disclosure provides a method, a device and equipment for adjusting virtual traffic flow, so that the richness of a test environment for parallel testing of an automatic driving vehicle can be improved.
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 which the headway is to be adjusted in a preset virtual vehicle flow according to the doubling request; the first virtual vehicle and the second virtual vehicle are both positioned in the virtual lane corresponding to the parallel line request;
and responding to the doubling request, adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, and obtaining an adjusted second vehicle head time interval.
In some embodiments, the apparatus comprises: a processor and a memory storing program instructions, the processor being configured to perform the above-described method for adjusting virtual traffic flow when executing the program instructions.
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 which the headway is to be adjusted in a preset virtual vehicle 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 parallel line request; and responding to the parallel line request, adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second vehicle head time interval. The first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, of which the vehicle head time interval is to be adjusted, in the virtual vehicle flow is adjusted, so that the adjusted second vehicle head time interval is obtained, the adjustment of the virtual vehicle flow in the parallel test process is realized, various parallel test environments required by the automatic driving vehicle can be generated, and the test environment of the automatic driving vehicle for parallel test is enriched.
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 and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:
FIG. 1 is a schematic diagram of a method for adjusting virtual traffic provided by an embodiment of the present disclosure;
fig. 2 is a schematic diagram of an apparatus for adjusting virtual traffic provided by an embodiment of the present disclosure.
Detailed Description
So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. 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 still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.
The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.
The term "plurality" means two or more, unless otherwise indicated.
In the embodiment of the present disclosure, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.
The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.
As shown in conjunction with 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 which the headway is to be adjusted in a preset virtual vehicle flow according to a parallel line request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the parallel line request;
step S103, responding to the parallel line request, adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second vehicle head time interval.
By adopting the method for adjusting the virtual traffic flow, which is provided by the embodiment of the disclosure, the first virtual vehicle and the second virtual vehicle of which the headway is to be adjusted are determined from the preset virtual traffic flow according to the parallel line request; the first virtual vehicle and the second virtual vehicle are both positioned in a virtual lane corresponding to the parallel line request; and responding to the parallel line request, adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second vehicle head time interval. The first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, of which the vehicle head time interval is to be adjusted, in the virtual vehicle flow is adjusted, so that the adjusted second vehicle head time interval is obtained, the adjustment of the virtual vehicle flow in the parallel test process is realized, various parallel test environments required by the automatic driving vehicle can be generated, and the test environment of the automatic driving vehicle for parallel test is enriched.
Optionally, acquiring the parallel line request includes: receiving a parallel line request sent by a road side unit; the parallel line request is sent by the road side unit under the condition that the test vehicle sends a turn signal; the lane doubling request carries lane direction information corresponding to the turn signal.
Optionally, the test vehicle signaling the turn signal comprises: the test vehicle turns on the left turn signal or the test vehicle turns on the right turn signal.
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 event that the test vehicle turns on the left turn signal, then the test vehicle's merge request is to merge in the left lane direction; in the case that the test vehicle turns on the right turn lamp, the merging request of the test vehicle is to merge in the right lane direction.
Optionally, determining the first virtual vehicle and the second virtual vehicle of which the headway is to be adjusted in the preset virtual vehicle flows according to the parallel line request, including: determining a virtual lane corresponding to the lane direction information in the virtual traffic flow as a target parallel lane; determining a virtual vehicle with the closest relative distance 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 the case that the merging request of the test vehicle is a merging of left lane directions, determining a virtual lane corresponding to left lane direction information in the virtual traffic as a target merging 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 the first head time interval between the first virtual vehicle and the second virtual vehicle includes: adjusting the first vehicle head time interval according to one or more modes of a preset first mode, a preset second mode and a preset 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 traffic flow.
Therefore, the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle is adjusted according to different modes, and the second vehicle head time interval corresponding to different modes can be obtained, so that various parallel testing environments required by the automatic driving vehicle are obtained, and the testing environments of the automatic driving vehicle for parallel testing are enriched.
Optionally, the first mode is a tight-force mode, the second mode is a gift mode, and the third mode is an ignore mode. The first mode is used for representing the running style of the virtual traffic in the virtual traffic as a tight mode, the second mode is used for representing the running style of the virtual traffic in the virtual traffic as a gift mode, and the third mode is used for representing the running style of the virtual traffic in the virtual traffic as a neglect mode; the virtual vehicles characterized by the first mode, the second mode and the third mode are different in driving style.
Optionally, adjusting the first vehicle head time interval 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 a first sensitivity coefficient, a displacement corresponding to a first virtual vehicle in a first mode and a displacement corresponding to a 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 vehicle 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 between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway.
Optionally, acquiring a first sensitivity coefficient corresponding to the first mode includes: acquiring a first parameter set corresponding to a first mode, wherein the speed of a second virtual vehicle at the time t+T in the first mode, 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; 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 set 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, the constant parameter corresponding to the first modeFirst reference parameter l corresponding to first mode 1 =0.1; second reference parameter m corresponding to first mode 1 ＝2.5。
Optionally by calculationObtaining a first corresponding to the first modeA coefficient of sensitivity; wherein lambda is 1 For a first coefficient of sensitivity, x 1，1 (t) is the displacement of the first virtual vehicle corresponding to the moment t in the first mode, x 1，2 (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 corresponding to first mode 1 For the first reference parameter, m, corresponding to the first mode 1 For the second reference parameter corresponding to the first mode, x' 1，2 And (t+T) is the speed of the second virtual vehicle at the time t+T in the first mode.
Optionally, obtaining a first derivative of displacement corresponding to the first virtual vehicle at the time t in the first mode with respect to time, and obtaining the speed of the first virtual vehicle at the time t in the first mode; and obtaining a second derivative of the displacement of the first virtual vehicle corresponding to the moment t in the first mode with respect to time, and obtaining the acceleration of the first virtual vehicle at the moment t in the first mode.
Optionally, obtaining a first derivative of displacement corresponding to the second virtual vehicle at the time t in the first mode with respect to time, and obtaining the speed of the second virtual vehicle at the time t in the first mode; and obtaining a second derivative of the displacement of the second virtual vehicle corresponding to the moment t in the first mode with respect to time, and obtaining the acceleration of the second virtual vehicle at the moment t in the first mode.
Optionally by calculating x' 1，2 (t+T)＝λ 1 [x' 1，1 (t)-x' 1，2 (t)]Acquiring a first acceleration corresponding to the second virtual vehicle; wherein x' 1，2 (t+T) is the first acceleration, lambda corresponding to the second virtual vehicle 1 For the 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 vehicle head time interval range corresponding to the first mode is 1.2s to 2s. Optionally, a value is randomly selected from the first vehicle head time interval range and is determined as the first target time interval, and the range of the first target time interval is 1.2s < >Q 1 Less than 2s; wherein Q is 1 Is the first target time interval.
Optionally, acquiring the first target acceleration corresponding to the first target time interval includes: by calculation ofAcquiring a first target acceleration corresponding to a first target time interval; wherein x' 1，2 (t+T) is the first target acceleration, x' 1，2 (t) is the speed of the second virtual vehicle at the time t in the first mode, Q 1 For the first target time interval, x' 1，1 (t) is the speed of the first virtual vehicle at the time t in the first mode, x' 1，1 And (t) is the acceleration of the first virtual vehicle at the moment t in the first mode.
In some embodiments, the first acceleration is adjusted according to a first preset value every first preset time, the adjusted first acceleration is calculated every first preset time to obtain an adjusted third headway, the third headway is compared with the first target headway, and when the third headway does not reach the first target headway, the first acceleration is continuously adjusted until the third headway is identical to the first target headway, and the third headway identical to the first target headway is determined as the second headway.
Optionally, after adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle to the second vehicle head time interval, the adjusting of the first acceleration of the second virtual vehicle is stopped.
In this way, the first acceleration of the second virtual vehicle is adjusted to be the first target acceleration, so that the first vehicle head time interval can be adjusted to be the second vehicle head time interval, the adjustment of the virtual vehicle flow is realized, and the test environment of the automatic driving vehicle for the parallel line test is enriched.
Optionally, adjusting the first vehicle head time interval 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 the 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 the first vehicle 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 between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway.
Optionally, acquiring a second sensitivity coefficient corresponding to the second mode includes: acquiring a second parameter set corresponding to a second mode, the speed of a second virtual vehicle at the time t+T in the second mode, 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; 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 set 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 mode isOptionally +.>The first reference parameter corresponding to the second mode is l 2 Alternatively, l 2 =0.7; the second reference parameter corresponding to the second mode is m 2 Alternatively, m 2 ＝2.5。
Optionally by calculationObtaining a second sensitivity coefficient corresponding to the second mode; wherein lambda is 2 For the second sensitivity coefficient, x 2，1 (t) is the second modeA virtual vehicle corresponding to the displacement at the moment t, x 2，2 (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 corresponding to the second mode 2 For the first reference parameter, m, corresponding to the second mode 2 For the second reference parameter corresponding to the second mode, x' 2，2 And (t+T) is the speed of the second virtual vehicle at the time t+T in the second mode.
Optionally, obtaining a first derivative of displacement corresponding to the first virtual vehicle at the time t in the second mode with respect to time, and obtaining the speed of the first virtual vehicle at the time t in the second mode; and obtaining a second derivative of the displacement of the first virtual vehicle corresponding to the moment t in the second mode with respect to time, and obtaining the acceleration of the first virtual vehicle at the moment t in the second mode.
Optionally, obtaining a first derivative of displacement corresponding to the second virtual vehicle at the time t in the second mode with respect to time, and obtaining the speed of the second virtual vehicle at the time t in the second mode; and obtaining a second derivative of the displacement of the second virtual vehicle corresponding to the moment t in the second mode with respect to time, and obtaining the acceleration of the second virtual vehicle at the moment t in the second mode.
Optionally by calculating x' 2，2 (t+T)＝λ 2 [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 the second acceleration, lambda corresponding to the second virtual vehicle 2 For the second sensitivity coefficient, x' 2，1 (t) is the speed, x 'of the first virtual vehicle at the time t in the second mode' 2，2 (t) is the speed of the second virtual vehicle at time t in the second mode.
Optionally, the first vehicle head time interval range corresponding to the second mode is 3.5s to 5s. Optionally, a value selected randomly from the first range of the vehicle head time interval is determined as a second target time interval, and the second target time interval is 3.5s < Q 2 Less than 5s; wherein Q is 2 Is the second target time interval.
Optionally, acquiring a second target acceleration corresponding to the second target time interval includes: calculation ofObtaining a second target acceleration corresponding to a second target time interval; wherein x' 2，2 (t+T) is the second target acceleration, x' 2，2 (t) is the speed of the second virtual vehicle at the time t in the second mode, Q 2 For the second target time interval, x' 2，1 (t) is the speed of the first virtual vehicle at the time t in the second mode, x' 2，1 (t) is the acceleration of the first virtual vehicle at time t in the second mode, optionally 3.5s < Q 2 ＜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 a second target headway, and when the third headway does not reach the second target headway, the second acceleration is continuously adjusted until the third headway is the same as the second target headway, and the third headway which is the same as the second target headway is determined as the second headway.
In this way, the second acceleration of the second virtual vehicle is adjusted to be the second target acceleration, so that the first vehicle head time interval can be adjusted to be the second vehicle head time interval, the adjustment of the virtual vehicle flow is realized, and the test environment of the automatic driving vehicle for the parallel line test is enriched.
Optionally, after adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle to the second vehicle head time interval, the adjusting of the second acceleration of the second virtual vehicle is stopped. Thus, by adjusting the second acceleration of the second virtual vehicle, an adjustment of the first headway between the second virtual vehicle and the first virtual vehicle is achieved.
Optionally, adjusting the first vehicle head time interval according to a preset third mode includes: acquiring a third sensitivity coefficient corresponding to a third mode, acquiring displacement corresponding to a first virtual vehicle in the third mode, and acquiring displacement corresponding to a 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 the first vehicle head time interval range corresponding to the third mode; acquiring a third target acceleration corresponding to a third target time interval; and adjusting the third acceleration of the second virtual vehicle to a third target acceleration so that the first head time distance between the first virtual vehicle and the second virtual vehicle is adjusted to the second head time distance.
Optionally, obtaining a third sensitivity coefficient corresponding to the third mode includes: acquiring a third parameter set corresponding to a third mode, the speed of a second virtual vehicle at the time t+T in the third mode, 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; 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 set 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 second reference parameter corresponding to the third mode. Optionally, the constant parameter corresponding to the third mode isOptionally +.>The first reference parameter corresponding to the third mode is l 3 Alternatively, l 3 =0.3; the second reference parameter corresponding to the third mode is m 3 Alternatively, m 3 ＝2.7。
Optionally, the meter is used for measuringObtaining a third sensitivity coefficient corresponding to a third mode; which is a kind ofIn lambda, lambda 3 For a third coefficient of sensitivity, x 3，1 (t) is the displacement of the first virtual vehicle corresponding to the moment t in the third mode, x 3，2 (T) is the displacement of the second virtual vehicle corresponding to the moment T in the third mode, T is the preset reaction time, < >>Constant parameter corresponding to third mode 3 For the first reference parameter, m, corresponding to the third mode 3 For the second reference parameter corresponding to the third mode, x' 3，2 And (t+T) is the speed of the second virtual vehicle at the time t+T in the third mode.
Optionally, obtaining a first derivative of the position of the first virtual vehicle at the time t in the third mode with respect to time, and obtaining the speed of the first virtual vehicle at the time t in the third mode; and obtaining a second derivative of the position of the first virtual vehicle at the moment t in the third mode with respect to time, and obtaining the acceleration of the first virtual vehicle at the moment t in the third mode.
Optionally, obtaining a first derivative of the position of the second virtual vehicle at the time t in the third mode with respect to time, and obtaining the speed of the second virtual vehicle at the time t in the third mode; and obtaining a second derivative of the position of the second virtual vehicle at the moment t in the third mode with respect to time, and obtaining the acceleration of the second virtual vehicle at the moment t in the third mode.
Optionally by calculating x' 3，2 (t+T)＝λ 3 [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 the third acceleration, lambda, corresponding to the second virtual vehicle 3 For 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' 3，2 And (t) is the speed of the second virtual vehicle at the time t in the third mode.
Optionally, the first vehicle head time interval range corresponding to the third mode is 2s to 3.5s. Optionally, a value selected randomly from the first range of the first vehicle head time interval is determined as a third target time interval, and the third target time interval is in the range of 2s < Q 3 < 3.5s; wherein Q is 3 Is the third target time interval.
Optionally, acquiring a third target acceleration corresponding to the third target time interval includes: calculation ofObtaining a third target acceleration corresponding to a third target time interval; wherein x' 3，2 (t+T) is the third target acceleration, x' 3，2 (t) is the speed of the second virtual vehicle at the time t in the third mode, Q 3 For the third target time interval, x' 3，1 (t) is the speed of the first virtual vehicle at the time t in the third mode, x' 3，1 (t) is the acceleration of the first virtual vehicle at time t in the third mode, optionally 2s < Q 3 ＜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, and when the third headway does not reach the third target headway yet, the third acceleration is continuously adjusted until the third headway is the same as the third target headway, and the third headway which is the same as the third target headway is determined as the second headway.
In this way, by adjusting the third acceleration of the second virtual vehicle to the third target acceleration, the first vehicle head time interval can be adjusted to the second vehicle head time interval, the adjustment of the virtual vehicle flow is realized, and the test environment of the automatic driving vehicle for the parallel line test is enriched.
Optionally, after adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle to the second vehicle head time interval, the adjusting of the third acceleration of the second virtual vehicle is stopped. In this way, the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle is adjusted according to the doubling request, the adjusted second vehicle head time interval is obtained, and the adjustment of virtual vehicle flows in the doubling test process is realized, so that various doubling test environments required by the automatic driving vehicle can be generated, and the test environments of the automatic driving vehicle for doubling test are enriched.
Optionally, after obtaining the adjusted second head time interval, the method further includes: the second headway is transmitted to the test vehicle via the roadside unit.
Optionally, in a case that the test vehicle receives the second head time interval, the parallel operation is performed according to the second head time interval.
As shown in connection with fig. 2, an embodiment of the present disclosure provides an apparatus for adjusting virtual traffic, including a processor (processor) 100 and a memory (memory) 101 storing program instructions. Optionally, the apparatus may further comprise 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 the bus 103. The communication interface 102 may be used for information transfer. Processor 100 may call program instructions in memory 101 to perform the method for adjusting virtual traffic of the above-described embodiments.
Further, the program instructions in the memory 101 described above may be implemented in the form of software functional units and sold or used as a separate product, and may be stored in a computer-readable storage medium.
The memory 101 is a computer readable storage medium that can be used to store a software program, a computer executable program, 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 by running program instructions/modules stored in the memory 101, i.e. implements the method for adjusting virtual traffic in the above-described embodiments.
The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, at least one application program required for a function; the storage data area may store data created according to the use of the terminal device, etc. Further, 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 line request is acquired; determining a first virtual vehicle and a second virtual vehicle of which the headway is to be adjusted in a preset virtual vehicle 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 parallel line request; and responding to the parallel line request, adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second vehicle head time interval. The first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, of which the vehicle head time interval is to be adjusted, in the virtual vehicle flow is adjusted, so that the adjusted second vehicle head time interval is obtained, the adjustment of the virtual vehicle flow in the parallel test process is realized, various parallel test environments required by the automatic driving vehicle can be generated, and the test environment of the automatic driving vehicle for parallel test is enriched.
The embodiment of the disclosure provides equipment comprising the device for adjusting the virtual traffic flow. The equipment acquires a parallel line request; determining a first virtual vehicle and a second virtual vehicle of which the headway is to be adjusted in a preset virtual vehicle 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 parallel line request; and responding to the parallel line request, adjusting the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, and obtaining the adjusted second vehicle head time interval. The first vehicle head time interval between the first virtual vehicle and the second virtual vehicle, of which the vehicle head time interval is to be adjusted, in the virtual vehicle flow is adjusted, so that the adjusted second vehicle head time interval is obtained, the adjustment of the virtual vehicle flow in the parallel test process is realized, various parallel test environments required by the automatic driving vehicle can be generated, and the test environment of the automatic driving vehicle for parallel test is enriched.
Optionally, the apparatus comprises: computers, servers, etc.
Optionally, the device obtains a merging request through an RSU (Road Side Unit), and broadcasts the second head time interval 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.
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 may be a transitory computer readable storage medium or a non-transitory computer readable storage medium.
Embodiments of the present disclosure may be embodied in a software product stored on a storage medium, including one or more instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of a method according to embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium including: a plurality of media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or a transitory storage medium.
The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may involve structural, logical, electrical, process, and other changes. The embodiments represent only 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. Moreover, the terminology used in the present application is for the purpose of describing embodiments only and is not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a," "an," and "the" (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, when used in this application, the terms "comprises," "comprising," and/or "includes," and variations thereof, mean that the stated features, integers, steps, operations, elements, and/or components are present, but that the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof is not precluded. Without further limitation, an element defined by the phrase "comprising one …" does not exclude the presence of other like elements in a process, method or apparatus comprising such elements. In this context, each embodiment may be described with emphasis on the differences from the other embodiments, and the same similar parts between the various embodiments may be referred to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method sections disclosed in the embodiments, the description of the method sections may be referred to for relevance.
Those of skill in the art will 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 depends upon the particular application and design constraints imposed on the solution. The skilled artisan may use different methods for each particular application to achieve the described functionality, but such implementation should not be considered to be beyond the scope of the embodiments of the present disclosure. It will be clearly understood by those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the embodiments disclosed herein, the disclosed methods, articles of manufacture (including but not limited to devices, apparatuses, etc.) may be practiced in other ways. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the units may be merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form. The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to implement the present embodiment. In addition, each functional unit in the embodiments of the present disclosure may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.
The flowcharts 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 that disclosed in the description, and sometimes no specific order exists between different operations or steps. For example, two consecutive operations or steps may actually be performed substantially in parallel, they may sometimes be performed in reverse order, which may be dependent on the functions involved. Each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
Claims (8)
1. A method for adjusting virtual traffic, comprising:
acquiring a doubling request;
determining a first virtual vehicle and a second virtual vehicle of which the headway is to be adjusted in a preset virtual vehicle flow according to the doubling request; the first virtual vehicle and the second virtual vehicle are both positioned in the virtual lane corresponding to the parallel line request;
responding to the doubling request, and adjusting a first vehicle head time interval between the first virtual vehicle and the second virtual vehicle to obtain an adjusted second vehicle head time interval;
adjusting a first headway between the first virtual vehicle and the second virtual vehicle, comprising:
adjusting the first vehicle head time interval according to one or more modes of a preset first mode, a preset second mode and a preset third mode; wherein the first mode, the second mode, and the third mode are used to characterize different travel styles of virtual vehicles in the virtual traffic stream;
the responding to the doubling request adjusts the first vehicle head time interval between the first virtual vehicle and the second virtual vehicle to obtain an adjusted second vehicle head time interval, and the method comprises the following steps: 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 headway in a first headway range corresponding to the first mode; acquiring a first target acceleration corresponding to the first target headway; adjusting a first acceleration of the second virtual vehicle to a first target acceleration such that a first headway between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway;
acquiring a first sensitivity coefficient corresponding to the first mode, including: acquiring a first parameter set corresponding to a first mode, wherein the speed of a second virtual vehicle at the time t+T in the first mode, 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; acquiring a first sensitivity coefficient corresponding to the first mode according to the first parameter set, the speed of the second virtual vehicle at the time t+T in the first mode, the displacement corresponding to the first virtual vehicle at the time T in the first mode and the displacement corresponding to the second virtual vehicle at the time T in the first mode; t is the preset reaction time.
2. The method of claim 1, wherein the acquiring a parallel line request comprises: receiving a parallel line request sent by a road side unit; the parallel line request is sent by the road side unit under the condition that the test vehicle sends a turn signal; the lane-merging request carries lane direction information corresponding to the turn signal.
3. The method according to claim 2, wherein determining the first virtual vehicle and the second virtual vehicle of which the headway is to be adjusted in the preset virtual traffic flow according to the parallel line request comprises:
determining a virtual lane corresponding to the lane direction information in the virtual traffic flow as a target parallel 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 in accordance with a predetermined second 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 headway in a first headway range corresponding to the second mode; acquiring a second target acceleration corresponding to the second target headway;
adjusting a second acceleration of the second virtual vehicle to a second target acceleration such that a first headway between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway;
obtaining a second sensitivity coefficient corresponding to the second mode comprises the following steps: acquiring a second parameter set corresponding to a second mode, the speed of a second virtual vehicle at the time t+T in the second mode, 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; and acquiring a second sensitivity coefficient corresponding to the second mode according to the second parameter set, the speed of the second virtual vehicle at the time t+T in the second mode, the displacement corresponding to the first virtual vehicle at the time T in the second mode and the displacement corresponding to the second virtual vehicle at the time T in the second mode.
5. The method of claim 1, wherein adjusting the first headway in accordance with a preset third mode 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 headway in a first headway range corresponding to the third mode; acquiring a third target acceleration corresponding to the third target headway;
adjusting a third acceleration of the second virtual vehicle to a third target acceleration such that a first headway between the first virtual vehicle and the second virtual vehicle is adjusted to a second headway;
obtaining a third sensitivity coefficient corresponding to the third mode includes: acquiring a third parameter set corresponding to a third mode, the speed of a second virtual vehicle at the time t+T in the third mode, 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; and acquiring a third sensitivity coefficient corresponding to the third mode according to the third parameter set, the speed of the second virtual vehicle at the time t+T in the third mode, the displacement corresponding to the first virtual vehicle at the time T in the third mode and the displacement corresponding to the second virtual vehicle at the time T in the third mode.
6. The method according to any one of claims 1 to 5, further comprising, after obtaining the adjusted second headway: and sending the second head time interval to a test vehicle through a road side unit.
7. An apparatus for adjusting virtual traffic comprising a processor and a memory storing program instructions, wherein the processor is configured, when executing the program instructions, to perform the method for adjusting virtual traffic of any of claims 1 to 6.
8. An apparatus comprising the device for adjusting virtual traffic as recited in claim 7.
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