CN111125857B - Distributed simulation method and device - Google Patents
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Abstract
The embodiment of the invention provides a distributed simulation method and device. The method comprises the following steps: acquiring the number of simulation tasks needing batch processing of a simulation software model; determining the number of required simulation algorithm nodes according to the number of simulation tasks; verifying the equipment where the simulation algorithm node is located by using a license; and controlling the equipment where the verified simulation algorithm nodes are located to execute simulation tasks in batches. The embodiment of the invention can carry out batch test on the simulation tasks of the simulation software model by utilizing a plurality of simulation algorithm nodes distributed on a plurality of devices, improves the simulation efficiency and is suitable for complex situations with multiple simulation scenes.
Description
Technical Field
The present invention relates to the field of computer simulation technologies, and in particular, to a distributed simulation method and apparatus.
Background
In the traditional vehicle enterprise field, commercial simulation software generally performs stand-alone testing, and does not have the requirement of executing tasks in batches.
In the field of autopilot, since autopilot requires consideration of the fact that the vehicle can cope with almost all complex situations when unmanned, simulation tasks are very numerous. The efficiency of testing by a single machine is very low. Therefore, there is a need in autopilot simulation to be able to support batch execution of simulation tasks.
Disclosure of Invention
The embodiment of the invention provides a distributed simulation method and a distributed simulation device, which are used for solving one or more technical problems in the prior art.
In a first aspect, an embodiment of the present invention provides a distributed simulation method, including:
Acquiring the number of simulation tasks needing batch processing of a simulation software model;
Determining the number of required simulation algorithm nodes according to the number of the simulation tasks;
Verifying the equipment where the simulation algorithm node is located by using a license;
and controlling the equipment where the verified simulation algorithm nodes are located to execute the simulation tasks in batches.
In one embodiment, obtaining the number of simulation tasks of the simulation software model that require batch processing includes:
The method comprises the steps of obtaining the number of simulation tasks corresponding to different automatic driving simulation scenes, wherein each automatic driving simulation scene corresponds to one simulation task, and the simulation tasks comprise simulation operation of vehicles and pedestrians in a set area.
In one embodiment, verifying the device in which the simulation algorithm node is located with a license includes: and verifying the MAC addresses of the devices where the simulation algorithm nodes are located by using a plurality of licenses, wherein one license is used for verifying whether one MAC address is legal or not.
In one embodiment, the method further comprises:
If the simulation software model is different from the operating system of the simulation algorithm node, after the equipment where the simulation algorithm node is located passes the verification, the simulation software model and the operating system of the simulation algorithm node are turned on.
In one embodiment, the method further comprises:
detecting the running state of equipment where each simulation algorithm node is located;
And controlling at least one of task scheduling, reliability detection and load balancing according to the running state of the equipment where each simulation algorithm node is located.
In one embodiment, the method further comprises:
Configuring at least one parameter of the wheelbase, the length, the width and the height of the vehicle, the width of the front axle and the rear axle and the wheel track of each vehicle to obtain different vehicles;
different simulation tasks are established by using different vehicles.
In a second aspect, an embodiment of the present invention provides a distributed simulation apparatus, including:
the first acquisition module is used for acquiring the number of simulation tasks which need to be processed in batches of the simulation software model;
the second acquisition module is used for determining the number of required simulation algorithm nodes according to the number of the simulation tasks;
The verification module is used for verifying the equipment where the simulation algorithm node is located by using the license;
And the execution module is used for controlling the equipment where the simulation algorithm nodes pass the verification to execute the simulation tasks in batches.
In one embodiment, the first obtaining module is further configured to obtain the number of simulation tasks corresponding to different autopilot simulation scenarios, where each autopilot simulation scenario corresponds to one simulation task, and the simulation tasks include simulation operations of vehicles and pedestrians in a set area.
In one embodiment, the verification module is further configured to verify MAC addresses of devices where a plurality of the emulation algorithm nodes are located using a plurality of the licenses, where one of the licenses is used to verify whether one of the MAC addresses is legal.
In one embodiment, the apparatus further comprises:
And the opening module is used for opening the simulation software model and the operating system of the simulation algorithm node after the equipment where the simulation algorithm node is located passes the verification if the simulation software model is different from the operating system of the simulation algorithm node.
In one embodiment, the apparatus further comprises:
The detection module is used for detecting the running state of the equipment where each simulation algorithm node is located;
And the control module is used for controlling at least one of task scheduling, reliability detection and load balancing according to the running state of the equipment where each simulation algorithm node is located.
In one embodiment, the apparatus further comprises:
the configuration module is used for configuring at least one parameter of the wheelbase, the length, the width and the height of the vehicle, the width of the front axle and the rear axle and the wheelbase of each vehicle to obtain different vehicles;
The building module is used for building different simulation tasks by using different vehicles.
In a third aspect, an embodiment of the present invention provides a distributed simulation apparatus, where the function of the apparatus may be implemented by hardware, or may be implemented by executing corresponding software by hardware. The hardware or software includes one or more modules corresponding to the functions described above.
In one possible design, the apparatus includes a processor and a memory in a structure thereof, the memory storing a program for supporting the apparatus to perform the above-described distributed simulation method, the processor being configured to execute the program stored in the memory. The apparatus may also include a communication interface for communicating with other devices or communication networks.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium storing computer software instructions for use with a distributed simulation apparatus, including a program for executing the above-described distributed simulation method.
In a fifth aspect, embodiments of the present invention provide a computer program product comprising a computer program which, when executed by a processor, implements a method as described above.
One of the above technical solutions has the following advantages or beneficial effects: the simulation tasks of the simulation software model can be tested in batches by utilizing a plurality of simulation algorithm nodes distributed on a plurality of devices, so that the simulation efficiency is improved, and the simulation software model is suitable for complex situations with multiple simulation scenes, such as automatic driving simulation.
The other technical scheme has the following advantages or beneficial effects: the device where each simulation algorithm node is located can be uniformly controlled, and the processes of task scheduling, reliability detection, load balancing and the like are performed, so that the simulation process is reasonably controlled.
The foregoing summary is for the purpose of the specification only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments, and features described above, further aspects, embodiments, and features of the present invention will become apparent by reference to the drawings and the following detailed description.
Drawings
In the drawings, the same reference numerals refer to the same or similar parts or elements throughout the several views unless otherwise specified. The figures are not necessarily drawn to scale. It is appreciated that these drawings depict only some embodiments according to the disclosure and are not therefore to be considered limiting of its scope.
FIG. 1 shows a flow chart of a distributed simulation method according to an embodiment of the present invention.
FIG. 2 shows a flow chart of a distributed simulation method according to an embodiment of the present invention.
FIG. 3 shows a flow chart of a distributed simulation method according to an embodiment of the present invention.
Fig. 4 shows a block diagram of a distributed simulation apparatus according to an embodiment of the present invention.
FIG. 5 shows a block diagram of a distributed simulation apparatus in accordance with an embodiment of the present invention.
FIG. 6 shows a block diagram of a distributed simulation apparatus in accordance with an embodiment of the present invention.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present invention. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
FIG. 1 shows a flow chart of a distributed simulation method according to an embodiment of the present invention. As shown in fig. 1, the distributed simulation method may include a determination process, and specifically may include:
and S11, acquiring the number of simulation tasks of the simulation software model, which need to be processed in batches.
And step S12, determining the number of required simulation algorithm nodes according to the number of simulation tasks.
And step S13, verifying the equipment where the simulation algorithm node is located by using the license.
And S14, controlling and verifying equipment where the simulation algorithm nodes pass through to execute simulation tasks in batches.
In simulation calculations such as automatic driving, it is necessary to consider a very large number of scenes of a vehicle when unmanned, and thus it is necessary to establish simulation tasks for a very large number of simulation scenes, so that the simulation tasks to be executed are very large. In order to improve the simulation operation efficiency, the simulation tasks can be processed in batches.
In one embodiment, step S11 includes: the method comprises the steps of obtaining the number of simulation tasks corresponding to different automatic driving simulation scenes, wherein each automatic driving simulation scene corresponds to one simulation task, and the simulation tasks comprise simulation operation of vehicles and pedestrians in a set area.
Various intelligent agents such as a host vehicle, an obstacle vehicle, a pedestrian and the like for automatic driving can be included in each simulation task. Different simulation tasks can be obtained in the same area, such as the area with the same map information, where attribute information, operation strategies and the like of one or more intelligent agents are different. In different areas, the attribute information, the operation strategy and the like of the intelligent agent are the same, and different simulation tasks can be obtained.
The embodiment of the invention can carry out batch test on the simulation tasks of the simulation software model by utilizing a plurality of simulation algorithm nodes distributed on a plurality of devices, improves the simulation efficiency, and is suitable for complex situations with multiple simulation scenes, such as automatic driving simulation.
In one embodiment, at least one parameter of the wheelbase, the length, the width of the front axle and the rear axle of each vehicle, and the wheel track of each vehicle may be configured to obtain different vehicles. Different simulation tasks are established by using different vehicles.
For example, parameters such as the wheelbase, the length, the width and the height of the vehicle, the width of the front axle and the rear axle, the wheel track and the like of the main vehicle are adjusted to obtain different main vehicles. Then, the host vehicles are respectively put into simulation scenes of different areas, and different simulation tasks can be obtained by using different host vehicles.
For another example, parameters such as the wheelbase, the length, the width and the height of the vehicle, the width of the front axle and the rear axle, the wheel track and the like of the obstacle vehicles are adjusted to obtain different obstacle vehicles. The number, parameters and the like of the obstacle vehicles in a certain area are adjusted, so that different simulation tasks can be obtained.
After the number of simulation tasks is determined, the number of simulation algorithm nodes can be determined according to the number of simulation tasks, and a corresponding simulation algorithm node can be allocated to each simulation task. For example, if 100 simulation tasks need to be performed in batches, 100 simulation algorithm nodes are required.
In one embodiment, step S13 includes: and verifying the MAC addresses of the devices where the simulation algorithm nodes are located by using a plurality of licenses, wherein one license is used for verifying whether one MAC address is legal or not.
In one example, each simulation algorithm node runs on one device. Each device has a MAC address. For example, if the MAC addresses of 100 devices need to be verified, 100 licenses are required (LICENCE).
In an embodiment of the present invention, several licenses may be pre-deployed. When authentication is required, a plurality of licenses are acquired according to the number of devices requiring authentication. For example, if 100 devices need to be authenticated, 100 licenses need to be acquired. 100 licenses can be acquired at a time, or can be acquired in batches, for example 10 at a time, 10 times. Accordingly, the MAC address of the device is verified in batches.
In one embodiment, the method further comprises: if the simulation software model is different from the operating system of the simulation algorithm node, after the equipment where the simulation algorithm node is located passes the verification, the simulation software model and the operating system of the simulation algorithm node are turned on.
In one embodiment, as shown in fig. 2, the method further comprises:
And S21, detecting the running state of equipment where each simulation algorithm node is located.
And S22, controlling at least one of task scheduling, reliability detection and load balancing according to the running state of the equipment where each simulation algorithm node is located.
In one example, if there are more simulation tasks, e.g., 300, but there are 100 simulation algorithm nodes, these simulation tasks may be divided into three operations. In addition, for tasks with poor simulation results running on a certain simulation algorithm node, the tasks can be rescheduled to other simulation algorithm nodes for running.
In one example, it may be determined whether the device where the verified simulation algorithm node is located is reliable based on the operational state of the device. Such as whether it is frequently dead, whether the running speed is too slow, whether the simulation result is accurate, etc. If the simulation result of a certain device is always particularly poor, it can be considered whether the simulation algorithm needs to be modified. If the running speed of a certain device is particularly slow, consider whether a problem occurs with the hardware or software of the device.
In one example, if the load rates of the devices A1, A2, A3, A4 where the simulation algorithm nodes are located are detected to be 10%, 0, 80%, 60%, respectively, a load balancing strategy may be adopted to allocate a new simulation task to the device A1 or A2 with the load rate of 10% or 0 for processing.
By adopting the embodiment of the invention, the internet thinking can be used for carrying out distributed construction of commercial simulation software, namely a simulation software model, and the problems of task scheduling, reliability, load balancing and the like are solved. At the same time, the problem of the deployment of commercial emulation software Licenses (LICENCE) is solved.
In an application example, as shown in fig. 3, the method may specifically include the following steps:
And S31, acquiring the number of simulation tasks of the simulation software model, which need to be processed in batches. Some parameters of the vehicle may be configured in different simulation tasks. For example; the parameters of the wheelbase, the length, the width, the height, the width of front and rear axles, the wheelbase and the like of the vehicle. These parameters are different and different vehicles such as an autonomous host vehicle, an obstacle vehicle, etc. can be obtained.
And step S32, determining the number of required simulation algorithm nodes according to the number of simulation tasks. For example, one simulation task corresponds to one simulation algorithm node.
Step S33, a plurality of licenses are acquired (LICENCE). And verifying the MAC address of the equipment where the simulation algorithm node is located by using a plurality of licenses. A device authenticates a MAC. It is determined whether the MAC is legitimate.
And step S34, after the verification is passed, the operation system between the simulation software model and the simulation algorithm node is opened.
The operating system may be different between some simulation software models and simulation algorithm nodes. For example, the simulation software model adopts a Windows operating system, and the simulation algorithm node adopts a linux operating system. Windows and linux are turned on. In one example, "opening" may include opening a gateway data path between rooms of different operating systems carrying simulation software models and simulation algorithm nodes. Because of network isolation among different machine rooms, barriers exist in the process of acquiring data, and in the process of using, the machine rooms among specific network segments are required to be capable of carrying out data interaction.
And step S35, performing task scheduling, reliability detection, load balancing and other processes according to the running state of the equipment where each simulation algorithm node is located, and executing simulation operation in batches by each simulation algorithm node.
Furthermore, the simulation algorithm nodes may be deployed on public clouds. And maintaining by utilizing a data warehouse, data security and mass storage resources provided in the public cloud. And controlling equipment where the simulation algorithm nodes are located by the public cloud to finish the processing of task scheduling, reliability detection, load balancing and the like. For example, vendors, startup companies, etc. can pay for access to public clouds to achieve batch testing.
Fig. 4 shows a block diagram of a distributed simulation apparatus according to an embodiment of the present invention. As shown in fig. 4, the apparatus may include:
A first obtaining module 41, configured to obtain the number of simulation tasks that need to be processed in batch in a simulation software model;
a second obtaining module 42, configured to determine the number of required simulation algorithm nodes according to the number of simulation tasks;
A verification module 43, configured to verify, with a license, a device where the simulation algorithm node is located;
and the execution module 44 is used for controlling the equipment where the verified simulation algorithm nodes are located to execute the simulation tasks in batches.
In one embodiment, the first obtaining module 41 is further configured to obtain the number of simulation tasks corresponding to different autopilot simulation scenarios, where each autopilot simulation scenario corresponds to a simulation task, and the simulation tasks include simulation operations of vehicles and pedestrians in a set area.
In one embodiment, the verification module 43 is further configured to verify the MAC addresses of devices where the multiple emulation algorithm nodes are located by using multiple licenses, where one license is used to verify whether one MAC address is legal.
In one embodiment, as shown in fig. 5, the apparatus further comprises:
and the opening module 51 is configured to, if the simulation software model is different from the operating system of the simulation algorithm node, open the simulation software model and the operating system of the simulation algorithm node after the device where the simulation algorithm node is located passes the verification.
In one embodiment, the apparatus further comprises:
The detection module 52 is configured to detect an operation state of a device where each simulation algorithm node is located;
and the control module 53 is used for controlling at least one of task scheduling, reliability detection and load balancing according to the running state of the equipment where each simulation algorithm node is located.
In one embodiment, the apparatus further comprises:
the configuration module 54 is configured to configure at least one parameter of a wheel base, a vehicle length, a vehicle width, a front and rear axle width, and a wheel base of each vehicle to obtain different vehicles;
The establishing module 55 is configured to establish different simulation tasks by using different vehicles.
The functions of each module in each device of the embodiments of the present invention may be referred to the corresponding descriptions in the above methods, and are not described herein again.
FIG. 6 shows a block diagram of a distributed simulation apparatus in accordance with an embodiment of the present invention. As shown in fig. 6, the apparatus includes: memory 910 and processor 920, memory 910 stores a computer program executable on processor 920. The processor 920 implements the transaction commit method in the above-described embodiments when executing the computer program. The number of the memories 910 and the processors 920 may be one or more.
The apparatus further comprises:
and the communication interface 930 is used for communicating with external equipment and carrying out data interaction transmission.
The memory 910 may include high-speed RAM memory or may further include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 910, the processor 920, and the communication interface 930 are implemented independently, the memory 910, the processor 920, and the communication interface 930 may be connected to each other and perform communication with each other through buses. The bus may be an industry standard architecture (ISA, industry Standard Architecture) bus, a peripheral component interconnect (PCI, PERIPHERAL COMPONENT) bus, or an extended industry standard architecture (EISA, extended Industry Standard Component) bus, among others. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 6, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 910, the processor 920, and the communication interface 930 are integrated on a chip, the memory 910, the processor 920, and the communication interface 930 may communicate with each other through internal interfaces.
An embodiment of the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements a method as in any of the above embodiments.
Embodiments of the present invention provide a computer program product comprising a computer program/instruction which, when executed by a processor, implements a method as described in any of the embodiments above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. The storage medium may be a read-only memory, a magnetic or optical disk, or the like.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that various changes and substitutions are possible within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
1. A distributed simulation method, comprising:
acquiring the number of simulation tasks to be processed in batches of simulation software models corresponding to different automatic driving simulation scenes, wherein each automatic driving simulation scene corresponds to one simulation task;
Determining the number of required simulation algorithm nodes according to the number of the simulation tasks, and distributing the simulation tasks to the simulation algorithm nodes with load ratios matched with the simulation tasks by adopting a load balancing strategy based on the load ratios of equipment where the simulation algorithm nodes are located;
Verifying the equipment where the simulation algorithm node is located by using a license;
Responding to the fact that the simulation software model is different from an operating system of the simulation algorithm node and network isolation exists between machine rooms bearing the simulation software model and the operating system of the simulation algorithm node, and opening a gateway data path between the machine rooms; and
And controlling the equipment where the verified simulation algorithm nodes are located to execute the simulation tasks in batches.
2. The method according to claim 1, wherein the simulation task comprises simulation running of vehicles and pedestrians in a set area.
3. The method of claim 1, wherein verifying the device in which the simulation algorithm node is located with a license comprises: and verifying the MAC addresses of the devices where the simulation algorithm nodes are located by using a plurality of licenses, wherein one license is used for verifying whether one MAC address is legal or not.
4. A method according to any one of claims 1 to 3, further comprising:
detecting the running state of equipment where each simulation algorithm node is located;
And controlling at least one of task scheduling, reliability detection and load balancing according to the running state of the equipment where each simulation algorithm node is located.
5. A method according to any one of claims 1 to 3, further comprising:
Configuring at least one parameter of the wheelbase, the length, the width and the height of the vehicle, the width of the front axle and the rear axle and the wheel track of each vehicle to obtain different vehicles;
different simulation tasks are established by using different vehicles.
6. A distributed simulation apparatus, comprising:
The first acquisition module is used for acquiring the quantity of simulation tasks which need to be processed in batches of simulation software models corresponding to different automatic driving simulation scenes, wherein each automatic driving simulation scene corresponds to one simulation task;
the second acquisition module is used for determining the number of required simulation algorithm nodes according to the number of the simulation tasks, and distributing the simulation tasks to the simulation algorithm nodes with the load rates matched with the simulation tasks by adopting a load balancing strategy based on the load rates of equipment where the simulation algorithm nodes are located;
The verification module is used for verifying the equipment where the simulation algorithm node is located by using the license;
the communication module is used for responding to the fact that the simulation software model is different from the operation system of the simulation algorithm node and network isolation exists between the machine rooms bearing the simulation software model and the operation system of the simulation algorithm node, and communicating a gateway data path between the machine rooms; and
And the execution module is used for controlling the equipment where the simulation algorithm nodes pass the verification to execute the simulation tasks in batches.
7. The apparatus of claim 6, wherein the simulation task includes a simulation run of a vehicle and a pedestrian in a set area.
8. The apparatus of claim 6, wherein the verification module is further configured to verify MAC addresses of devices in which the plurality of emulation algorithm nodes are located using a plurality of the licenses, wherein one of the licenses is used to verify whether one of the MAC addresses is legitimate.
9. The apparatus according to any one of claims 6 to 8, further comprising:
The detection module is used for detecting the running state of the equipment where each simulation algorithm node is located;
the control module is configured to control at least one of task scheduling, reliability detection and load balancing according to the running state of the equipment where each simulation algorithm node is located.
10. The apparatus according to any one of claims 6 to 8, further comprising:
the configuration module is used for configuring at least one parameter of the wheelbase, the length, the width and the height of the vehicle, the width of the front axle and the rear axle and the wheelbase of each vehicle to obtain different vehicles;
The building module is used for building different simulation tasks by using different vehicles.
11. A distributed simulation apparatus, comprising:
One or more processors;
A storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of any of claims 1-5.
12. A computer readable storage medium storing a computer program, which when executed by a processor implements the method of any one of claims 1 to 5.
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