CN112912883B

CN112912883B - Simulation method and related equipment

Info

Publication number: CN112912883B
Application number: CN202180000314.XA
Authority: CN
Inventors: 张贤超
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-02-07
Filing date: 2021-02-07
Publication date: 2022-06-28
Anticipated expiration: 2041-02-07
Also published as: CN112912883A; WO2022165811A1

Abstract

A simulation method and related equipment are applied to the field of simulation of automatic driving or intelligent driving. Through setting up the effective detection area of emulation owner car, control at least one emulation vehicle of accompanying and testing moves in effective detection area, improved the simulation efficiency of simulation experiment. The method in the embodiment of the application comprises the following steps: the simulation equipment determines an effective detection area of the simulated main vehicle according to the detection capability information and the motion information of the simulated main vehicle and the information of the simulated environment. And controlling the at least one simulated test vehicle to move in the effective detection area according to the motion information of the simulated main vehicle, the motion information and the effective detection area of the at least one simulated test vehicle.

Description

Simulation method and related equipment

Technical Field

The embodiment of the application relates to the technical field of simulation, in particular to a simulation method and related equipment.

Background

Because the simulation technology has the advantages of convenience, rapidness, economy and the like, the simulation technology is widely applied to various fields such as engineering design, product research and development and the like. Applications of simulation techniques in autonomous or smart driving may include: by designing and operating the vehicle model and the environment model, the operating condition of the vehicle in a real environment is simulated, so that the driving scheme is evaluated and optimized.

The current traffic flow simulation method generally comprises the steps of arranging a plurality of simulation vehicle models in a road network, selecting one vehicle model as a simulation main vehicle, using other vehicle models as simulation accompanying vehicles, and enabling the position relations between the simulation main vehicle and the simulation accompanying vehicles to be independent. The simulation accompanying vehicle can make a motion decision according to an intelligent driving solution carried by the simulation accompanying vehicle, and the intelligent driving solution carried by the simulation main vehicle can adjust the motion state according to the motion state, road condition information and the like of the accompanying vehicle, so that the detection of the intelligent driving solution carried by the simulation main vehicle is realized.

In the current traffic simulation method, the position relation between the simulated main vehicle and the simulated accompanying and surveying vehicle is mutually independent, and the simulation efficiency is not high.

Disclosure of Invention

The embodiment of the application provides a simulation method and related equipment, wherein the effective detection area of a simulated main vehicle is determined, and the motion information of the simulated main vehicle and the motion information of at least one simulated accompanying vehicle are combined, so that the at least one simulated accompanying vehicle can be controlled to move in the effective detection area. Because the simulation that is located effective detection area intra-area accompanies the measuring car and can both be detected by the emulation owner car, satisfy the required anticipated scene of simulation experiment, improved simulation efficiency.

A first aspect of an embodiment of the present application provides a simulation method, including:

in the traffic flow simulation environment, there are many simulated vehicle models, and a simulated vehicle model carrying a driving strategy to be detected may be determined as a simulated host vehicle, and another simulated vehicle model for accompanying the driving strategy may be determined as a simulated accompanying vehicle. The motion condition of the simulated accompany vehicle can influence the motion state of the simulated main vehicle, the change of the motion state of the simulated main vehicle is related to the driving scheme carried on the simulated main vehicle, and based on the change, the detection of the driving scheme carried on the simulated main vehicle can be realized.

In practical applications, there are various devices capable of executing the simulation method provided in the first aspect of the embodiment of the present application, and the devices may be devices capable of running programs, such as terminal devices, or simulation devices specially used for performing simulation experiments, and may also be other devices, which is not limited herein. The terminal device or the simulation device may be a Personal Computer (PC), a tablet PC, a Personal Digital Assistant (PDA), or the like. In the embodiments of the present application, an execution subject is an emulation apparatus as an example.

The simulation equipment can acquire the detection capability information and the motion information of the simulated main vehicle, the motion information of at least one simulated accompanying and measuring vehicle and the information of the simulated environment. Then, the simulation equipment can determine the effective detection area of the simulated main vehicle according to the detection capability information and the motion information of the simulated main vehicle and the information of the simulated environment. The information of the simulated environment refers to information simulating the simulated environment where the main vehicle and the at least one simulated accompanying vehicle are located, and comprises information of a plurality of levels, such as information related to road conditions and/or information related to weather. For the simulated main car, the motion information of the simulated accompanying and testing car in the effective detection area can influence the driving strategy carried by the simulated main car. The effective detection area can change along with the position of the simulated main vehicle, the detection capability of the simulated main vehicle or the change of information of a simulated environment, and in different simulation situations, the shape, the area and the like of the effective detection area may not be completely the same, but the simulated auxiliary vehicle in the effective monitoring area can be detected by the simulated main vehicle. After the effective detection area is determined, the simulation equipment can control at least one simulation accompanying vehicle according to the motion information of the simulation main vehicle, the motion information of at least one simulation accompanying vehicle and the effective detection area, so that at least one simulation accompanying vehicle moves in the effective detection area.

In the embodiment of the application, the effective detection area of the simulated main vehicle is determined, and the movement information of the simulated main vehicle and the movement information of the at least one simulated accompanying vehicle are combined, so that the at least one simulated accompanying vehicle can be controlled to move in the effective detection area. The motion information of the simulated accompany-testing vehicle in the effective detection area has larger influence on the simulated main vehicle and belongs to effective information for the simulated main vehicle, so that the motion state of the simulated main vehicle can be influenced, an expected scene required by a simulation experiment is achieved, and the simulation efficiency is improved.

With reference to the first aspect, in a first implementation manner of the first aspect of the embodiment of the present application, the simulated vehicle under test may leave the effective detection area during the movement process. In this case, it is not advantageous to detect the driving scheme carried by the simulated host vehicle, and therefore, in a case where the simulation device determines that the first simulated test vehicle of the at least one simulated test vehicle is located outside the effective detection area, the simulation device may control the first simulated test vehicle to return into the effective detection area. The simulation device controls the first simulation accompanying and testing vehicle to return to the effective detection area in various modes, the first simulation accompanying and testing vehicle can be controlled to accelerate, decelerate or change the direction, other modes are possible, and the specific mode is not limited here.

In the embodiment of the application, when the first simulation accompanying and testing vehicle which is not located in the effective detection area exists in at least one simulation accompanying and testing vehicle, the simulation equipment can change the motion state of the first simulation accompanying and testing vehicle, so that the first simulation accompanying and testing vehicle enters the effective detection area. The simulation test efficiency can be improved, and the waste of computing power resources can be avoided to a certain extent.

With reference to the first aspect or the first implementation manner of the first aspect, in a second implementation manner of the first aspect of the embodiment of the present application, the simulation device may further change a motion state of the simulation test vehicle when the simulation test vehicle is about to leave the effective detection area, so that the simulation test vehicle is maintained in the effective detection area. Specifically, when the simulation device predicts that a first time length that a second simulation accompanying and measuring vehicle in at least one simulation accompanying and measuring vehicle moves from a first position at the current moment to the outside of the effective detection area is less than or equal to one detection period, meaning that the second simulation accompanying and measuring vehicle is about to leave the effective detection area, the simulation device can control the second simulation accompanying and measuring vehicle to accelerate, decelerate or change the direction, and the second simulation accompanying and measuring vehicle is maintained in the effective detection area. In addition, the simulation device may also control the second simulation test vehicle to be maintained within the effective detection area in other manners, which is not limited herein.

In the embodiment of the application, under the condition that the second simulation accompanying and testing vehicle leaves the effective detection area in a detection period, the simulation equipment can change the motion state of the second simulation accompanying and testing vehicle, so that the second simulation accompanying and testing vehicle maintains the effective detection area, the simulation experiment is maintained in an expected experiment scene, and the simulation efficiency is improved.

With reference to the first aspect and any one of the first to second implementation manners of the first aspect, in a third implementation manner of the first aspect of the embodiment of the application, in order to ensure driving safety, the simulation device may further control the simulated test vehicle within the effective detection area to avoid the obstacle, so as to avoid a traffic accident occurring during real driving. The simulation equipment can determine a second position of a third simulation test vehicle in the at least one simulation test vehicle at the current moment, determine a third position of the obstacle, and predict a second time length for the third simulation test vehicle to move from the second position to the third position. And then comparing the second duration with a detection period, wherein if the second duration is less than or equal to the detection period, the third simulation accompanying and measuring vehicle can impact the obstacle in the detection period, and the third simulation accompanying and measuring vehicle needs to be controlled to avoid the obstacle. The simulation equipment can control the third simulation accompanying and testing vehicle to decelerate or change the driving direction, and other modes can be provided as long as the third simulation accompanying and testing vehicle can avoid the barrier, and the concrete place is not limited.

In the embodiment of the application, the simulation equipment can control the third simulation to accompany the measuring vehicle to avoid the barrier through the third simulation within the effective detection area to accompany the measuring vehicle and the position relation between the barrier, thereby promoting the safety of the technical scheme of the application.

With reference to the first aspect and any one of the first to third implementation manners of the first aspect, in a fourth implementation manner of the first aspect of the embodiment of the present application, in order to enrich a scene of a simulation experiment, the simulation method provided in the embodiment of the present application may control a motion state of the simulation accompanying vehicle to change by determining a motion situation of the simulation accompanying vehicle relative to the simulation host vehicle. In practical application, the fact that the simulated host vehicle and the simulated host vehicle are kept relatively static means that the motion information such as speed, acceleration and the like of the simulated host vehicle is the same as that of the simulated host vehicle, if the simulated host vehicle and the simulated host vehicle are in such a state for a long time, the influence on the simulated host vehicle is small, and the driving scheme carried on the simulated host vehicle is difficult to evaluate and optimize. Therefore, the simulation equipment needs to determine a third time length for keeping the simulated accompany vehicle and the simulated main vehicle in a relatively static state. If the third duration is greater than or equal to the preset duration, the duration that the fourth simulation accompanying vehicle and the simulation main vehicle keep relatively static exceeds the preset duration, and if the fourth simulation accompanying vehicle continues to keep relatively static with the simulation main vehicle, the simulation experiment is not greatly assisted. In this case, the simulation device can change the motion state of the fourth simulated test accompanying vehicle and control the fourth simulated test accompanying vehicle to move relative to the simulated main vehicle. The preset duration can be manually input in advance, and in different experimental scenes, the preset duration can be the same or different, and is selected according to the needs of practical application, and the specific situation is not limited here.

In the embodiment of the application, the simulation equipment can change the motion state of the fourth simulation accompanying vehicle under the condition that the relative rest time of the fourth simulation accompanying vehicle and the simulation main vehicle is longer, so that the fourth simulation accompanying vehicle moves relative to the simulation main vehicle. The experimental scene of the simulation experiment is enriched, and the flexibility and the practicability of the technical scheme are improved.

With reference to the first aspect, any one of the first to fourth implementation manners of the first aspect, in a fifth implementation manner of the first aspect of the embodiment of the present application, in different simulation experiments, speed requirements for the simulation test vehicles may be different, and in this case, the simulation device may adjust the speed of the simulation test vehicle according to needs of the experiments. If the simulation equipment determines that the speed of a fifth simulation accompanying and measuring vehicle in the at least one simulation accompanying and measuring vehicle is not within the preset speed range, the simulation equipment can control the fifth simulation accompanying and measuring vehicle to accelerate or decelerate, so that the speed of the fifth simulation accompanying and measuring vehicle returns to the preset speed range.

In the embodiment of the application, the simulation equipment can also control the speed of the fifth simulation accompanying and measuring vehicle to be kept within the preset speed range according to the relation between the speed of the fifth simulation accompanying and measuring vehicle in the at least one simulation accompanying and measuring vehicle and the preset speed range, so that dangerous driving behaviors are avoided. The safety and the realizability of the technical scheme are improved.

With reference to the first aspect and any one of the first to fifth implementation manners of the first aspect, in a sixth implementation manner of the first aspect of the embodiment of the present application, in practical applications, the simulation device may further determine whether a driving direction range of each simulated test car meets experimental requirements, and perform different processing on different situations. If the simulation equipment determines that the driving direction range of a sixth simulation test accompanying vehicle in the at least one simulation test accompanying vehicle exceeds the preset driving direction range, the simulation equipment can change the driving direction of the sixth simulation and control the driving direction range of the sixth simulation test accompanying vehicle to return to the preset driving direction range.

In the embodiment of the application, the simulation equipment can compare the driving direction range of the sixth simulation accompanying and measuring vehicle in at least one simulation accompanying and measuring vehicle with the preset driving direction range, and control the sixth simulation accompanying and measuring vehicle to move within the preset driving direction range according to the comparison result, so that the driving direction of each simulation accompanying and measuring vehicle is in a reasonable state, traffic accidents or dangerous driving behaviors are avoided, and the reliability of the technical scheme is improved.

With reference to the first aspect and any one of the first to sixth implementation manners of the first aspect, in a seventh implementation manner of the first aspect of the embodiment of the present application, the simulation method provided by the embodiment of the present application may further suppress violent driving behavior. In this case, the violent driving behavior, including the sudden change of the direction of the vehicle in a short time, may not only cause a great damage to the vehicle itself but also may cause casualties. If the simulation equipment determines that the direction change rate of a seventh simulation accompanying and measuring vehicle in the at least one simulation accompanying and measuring vehicle is greater than or equal to the preset direction change rate, the seventh simulation accompanying and measuring vehicle is in a violent driving state, and the simulation equipment needs to reduce the direction change rate of the seventh simulation accompanying and measuring vehicle through various modes. Various ways for reducing the direction change rate of the seventh simulated accompanying and measuring vehicle by the simulation equipment can be provided, so that the seventh simulated accompanying and measuring vehicle is controlled to move in the opposite direction while the speed of the seventh simulated accompanying and measuring vehicle is reduced; the seventh simulation accompanying test vehicle can also be controlled to emergently brake; in addition, the direction change rate of the seventh simulated escort vehicle can be reduced in other manners, and the direction change rate can be selected according to the requirements of practical application, and the method is not limited in detail here.

Furthermore, the simulation equipment can also determine whether the seventh simulation accompanying and testing vehicle is in the situation of violent driving or not by comparing whether the direction change rate of the seventh simulation accompanying and testing vehicle in at least one simulation accompanying and testing vehicle is larger than or equal to the preset direction change rate or not, and timely change the violent driving state of the seventh simulation accompanying and testing vehicle, so that the safety and the comprehensiveness of the technical scheme are improved.

A second aspect of the embodiments of the present application provides a simulation apparatus, including:

the acquisition unit is used for acquiring detection capability information and motion information of the simulated main vehicle, motion information of the at least one simulated accompanying vehicle and information of simulated environments where the simulated main vehicle and the at least one simulated accompanying vehicle are located.

And the determining unit is used for determining an effective detection area of the simulated main vehicle according to the detection capability information and the motion information of the simulated main vehicle and the information of the simulated environment, and the simulated co-observing vehicle positioned in the effective detection area can be detected by the simulated main vehicle.

And the processing unit is used for controlling at least one simulated accompanying vehicle to move in the effective detection area according to the motion information of the simulated main vehicle, the motion information of at least one simulated accompanying vehicle and the effective detection area.

The simulation apparatus is adapted to perform the method of the first aspect.

The beneficial effects shown in the aspect are similar to those of the first aspect, which are shown in the first aspect and are not described herein again.

A third aspect of embodiments of the present application provides a simulation apparatus, including:

the system comprises at least one processor and a communication interface, wherein the communication interface and the at least one processor are interconnected through a line. The communication interface provides computer programs, instructions or data to at least one processor. The at least one processor is configured to execute a computer program, or instructions, to perform the simulation method described in any one of the possible implementations of the first aspect to the first aspect. The communication interface in the terminal device may be an input/output interface, a pin or a circuit, etc.

With reference to the third aspect, in a first implementation manner of the third aspect of this embodiment of this application, the simulation apparatus described above in this application further includes at least one memory, where instructions or a computer program are stored in the at least one memory. The memory may be a storage unit inside the terminal device, such as a register, a cache, etc., or may be a storage unit of the emulation apparatus (e.g., a read-only memory, a random access memory, etc.).

With reference to the third aspect or the first implementation of the third aspect, in a second implementation manner of the third aspect in this embodiment of the present application, the simulation apparatus may be a computer device, a terminal device, or another device such as a server that can execute the simulation method of the first aspect, which is not limited here specifically.

A fourth aspect of the embodiments of the present application provides a terminal device, where the terminal device may be the simulation apparatus described in the third aspect.

With reference to the fourth aspect, in a first implementation manner of the fourth aspect of the embodiment of the present application, the terminal device may be a computer, a smart phone, or another device that can run a program or an instruction, which is not limited herein.

A fifth aspect of embodiments of the present application provides a chip, where the chip or a chip system includes at least one processor and a communication interface, where the communication interface and the at least one processor are interconnected by a line, and the at least one processor is configured to execute a computer program or instructions to perform the simulation method described in any one of the possible implementation manners of the first aspect to the first aspect. The communication interface in the chip may be an input/output interface, a pin or a circuit, etc.

With reference to the fifth aspect, in a first implementation manner of the fifth aspect of the embodiment of the present application, the chip described above in the present application further includes at least one memory, where instructions or a computer program are stored in the at least one memory. The memory may be a storage unit inside the chip, such as a register, a cache, etc., or a storage unit of the chip (e.g., a read-only memory, a random access memory, etc.).

A sixth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a program, and when the program is executed by a computer, performs the method of the first aspect.

A seventh aspect of embodiments of the present application provides a computer program product, wherein when the computer program product is executed on a computer, the computer executes the method of the foregoing first aspect.

The beneficial effects shown in the third aspect to the seventh aspect of the embodiment of the present application are similar to the beneficial effects of the first aspect, which are shown in the first aspect and are not described herein again.

Drawings

Fig. 1 is a schematic flowchart of a simulation method according to an embodiment of the present application;

FIG. 2 is a logic diagram of a simulation method according to an embodiment of the present application;

Fig. 3 is another schematic flow chart of a simulation method according to an embodiment of the present application;

fig. 4a is a schematic view of an application scenario of a simulation method according to an embodiment of the present application;

fig. 4b is a schematic view of another application scenario of the simulation method according to the embodiment of the present application;

fig. 4c is a schematic view of another application scenario of the simulation method according to the embodiment of the present application;

fig. 5 is a schematic view of another application scenario of the simulation method according to the embodiment of the present application;

fig. 6 is another schematic flow chart of a simulation method according to an embodiment of the present application;

fig. 7 is another schematic flow chart of a simulation method according to an embodiment of the present application;

fig. 8 is another schematic flow chart of a simulation method according to an embodiment of the present application;

fig. 9 is another schematic flow chart of a simulation method according to an embodiment of the present application;

fig. 10 is another schematic flow chart of a simulation method according to an embodiment of the present application;

fig. 11 is another schematic flow chart of a simulation method according to an embodiment of the present application;

FIG. 12 is a schematic structural diagram of a simulation apparatus according to an embodiment of the present application;

fig. 13 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

The embodiment of the application provides a simulation method and related equipment, wherein the effective detection area of a simulated main vehicle is determined, and the motion information of the simulated main vehicle and the motion information of at least one simulated accompanying vehicle are combined, so that the at least one simulated accompanying vehicle can be controlled to move in the effective detection area. The motion information of the simulated accompanying and testing vehicle in the effective detection area has a large influence on the simulated main vehicle and belongs to effective information for the simulated main vehicle, so that the motion state of the simulated main vehicle can be influenced, an expected scene required by a simulation experiment is achieved, and the simulation efficiency is improved.

With the progress of science and technology, intelligent driving gradually goes into the daily life of the public. The driving scheme carried on the automobile can assist or replace people to drive the automobile based on artificial intelligence, and possible defects of human drivers are overcome. The driving scheme can also comprise a sensor scheme carried on the automobile, can sense abnormal conditions in the driving environment and timely reminds a driver to pay attention to the driving environment. In practical application, in order to save cost, a software program is often used for traffic flow simulation, the schemes are detected, and an intelligent driving scheme is optimized and improved, so that the stability and the reliability of the driving scheme are ensured.

First, a traffic simulation will be briefly described.

In practical applications, traffic flow simulation can also be called traffic flow simulation, and after years of development, the traffic flow simulation can be basically divided into the following three categories:

1, macro model (macroscopic model):

the macro simulation model describes the system entities, behaviors and interactions very roughly. For example, it uses a set of methods to represent traffic flow, such as traffic flow, speed, density, and relationships between them. Macroscopic models are rarely concerned with interactions between vehicles within a stream, such as vehicle-following, lane-changing, and generally assume that the traffic stream has been reasonably assigned to individual lanes.

2, microscopic model (microscopic model):

the microscopic simulation model describes the system entities and the interactions between them very carefully. For example, the microscopic level lane change not only relates to the following law of the vehicle to the front vehicle in the current lane, but also relates to the following laws of the assumed front vehicle and the assumed rear vehicle of the target lane, and also has a fine driver decision behavior simulation, and even the whole operation process of the lane change can be simulated, so that the influence of various roads and traffic conditions can be reflected very flexibly.

3, mesopic model (mesopic model):

the mesoscopic model may also be referred to as a quasi-microscopic simulation model, which is also able to describe most system entities in detail, however, it describes entity movements and interactions much more coarsely than a microscopic model, e.g. it employs a fleet description model, which describes for each vehicle, lane changes as instantaneous decision-making events based on the relevant lane entities, rather than detailed inter-vehicle interactions.

The technical scheme provided by the embodiment of the application can be classified into a micro model. In practical application, there are various devices capable of running the traffic flow simulation experiment, which may be terminal devices, simulation devices, or other devices capable of running program instructions, and the specific application is not limited herein. The device for controlling the simulated main vehicle to move can be called a driving simulator, and the embodiment shown in fig. 1 takes an execution subject as the driving simulator as an example, and the design idea of the simulated traffic flow frequently used in the microscopic model is simply explained. Referring to fig. 1, fig. 1 is a schematic flow chart of a simulation method in an embodiment of the present application, including:

and 101, acquiring motion information and detection capability information of the self vehicle.

In the simulation experiment, the initial motion state, the detection capability and the like of the vehicle model can be set, so that the scene of the simulation experiment is triggered. The experimental data can change along with the progress of the experiment, and the driving simulator can acquire the motion information and the detection capability information of the self-vehicle at the current moment. The motion information represents information related to a motion state, such as a speed and a position of the vehicle, and may also be other motion information, such as a driving direction and an acceleration, which is not limited herein. The detectability information reflects detectability of the host vehicle, and may include detectable regions, detection sensitivity, etc. in relation to the detector of the host vehicle, and may include other information such as detection response time, etc., which is not limited herein. The detectable region refers to the largest region which can be sensed by the sensor, and may include a region where the simulated host vehicle can pass, a region where an obstacle is located, and the like.

102, motion information of other vehicles in the simulation environment is obtained.

In order to simulate a real driving environment and approach to real life as much as possible, a plurality of simulated vehicle models exist in a simulation experiment, and a driving simulator can acquire motion information of other vehicles in the simulation environment. In the simulation experiment, each vehicle model may be assigned with an identification number (ID) for indicating different vehicle models, and the vehicle ID may be simply understood as a license plate number in real traffic conditions, a model number of a vehicle, or the like, and besides, different numbers may be used for indicating different vehicle models, such as a vehicle No. 1, a vehicle No. 2, or the like, as long as the number can be used for distinguishing vehicles, which is not limited herein.

103, acquiring information of the simulation environment.

In real driving behavior, environmental information is added to the motion information of other vehicles, which affects the driver. The information of the simulated environment refers to information of a large environment where the simulated host vehicle and the simulated accompany vehicle are located together, and may include information of multiple layers, for example, may include road condition information, and may include other information, such as weather information, which is not limited herein. Wherein the road condition information may include at least one of lane information and road indication information. The weather information may include rainfall, rainfall time, snowfall amount or snowfall time, and besides, the weather information may also be other information, such as visibility, wind speed and/or temperature, and the like, which is not limited herein.

The lane information may include at least one of a road type, a degree of road congestion, obstacle information, and abnormality information. The road types are various, and may be at least one of a single lane, a multi-lane, a one-way road and a two-way road, and may be other road types, such as a mountain road, a crossroad, and the like, depending on the division standard, which is not limited herein. The obstacle is an object that needs to be avoided in the driving process, and the obstacle information represents relevant information of the obstacle, such as the position and/or size of a road edge stone and the position of a pedestrian, and in addition, the obstacle information may also be other information, such as the position of a road pile, and the specific details are not limited herein. The abnormal information indicates an infrequent condition, such as a road surface collapse or an excessive amount of water on the road surface, and besides, the abnormal information may also be other conditions such as road construction, which is not limited herein.

The road indication information may be used to prompt the road surface condition, and the road indication information may be at least one of road sign, traffic light and speed limit information, and in addition, may also be other information, such as a sharp turn prompt, a continuous downhill prompt and/or a road construction prompt, and is not limited herein.

And 104, calculating the motion information of the own vehicle in the next simulation step length.

After the driving simulator obtains the motion information and the detection capability information of the own vehicle, the motion information of other vehicles in the simulation environment and the information of the simulation environment, the driving simulator can calculate the motion information of the own vehicle in the next simulation step length by combining the information and the calculation strategy provided by the driving scheme carried by the simulation main vehicle. The driving simulator can control the simulated main vehicle to move in the next simulation step according to the calculated movement information. According to the motion result, the driving scheme carried by the simulated main vehicle can be evaluated and optimized.

The simulation step length is also called as a simulation period or a refresh period, and in the existing simulation equipment, the simulation period can reach the millisecond level, and data in a simulation system can be refreshed every 1 millisecond, so that the sensitivity of a simulation experiment is enhanced. It should be noted that step 101, step 102 and step 103 do not have a necessary sequence, and in practical applications, there are multiple execution sequences, for example, step 102 may be executed first, then step 103 may be executed, and then step 101 may be executed; or step 103 may be executed first, then step 101 may be executed, and then step 102 may be executed; step 102, step 102 and step 103 may be executed at the same time, and other execution sequences may also exist as long as the information corresponding to step 101 to step 103 is acquired before step 104, which is not limited herein.

Next, a brief description is given to a design logic of the embodiment of the present application, please refer to fig. 2, and fig. 2 is a logic diagram of the embodiment of the present application.

In the traffic flow simulation experiment, a plurality of simulated vehicle models exist, the simulated vehicle model carrying the driving strategy to be detected can be regarded as a simulated main vehicle, and a limited number of simulated vehicle models can be regarded as simulated accompanying vehicles. In some optional implementations, in addition to the simulated main vehicle and the simulated test vehicle, other simulated vehicle models may be provided in the traffic flow simulation experiment, and these simulated vehicle models are used for simulating the environmental traffic flow in the real driving scene.

In some optional embodiments, the technical solution of the embodiment of the present application may adopt the design logic shown in fig. 2, and as shown in fig. 2, the simulation system may include a data acquisition module 210, an effective area calculation module 220, a simulated vehicle accompanying random motion calculation module 230, and a simulated vehicle accompanying random motion limitation module 240.

The data collection module 210 may include a simulated environmental data collection sub-module 211, a simulated host vehicle data collection sub-module 212, and a simulated test vehicle data collection sub-module 213. The simulation environment data acquisition sub-module 211 can acquire information of a simulation environment, the simulation main vehicle data acquisition sub-module 212 can acquire motion information of a simulation main vehicle and detection capability information of the simulation main vehicle, and the simulation test vehicle data acquisition sub-module 213 can acquire motion information of the simulation test vehicle and motion limit of the simulation test vehicle. The effective area calculation module 220 may receive the information of the simulated environment sent by the simulated environment data collection sub-module 211, and the motion information of the simulated host vehicle and the detection capability information of the simulated host vehicle sent by the simulated host vehicle data collection sub-module 212, and calculate an effective detection area of the simulated host vehicle according to the information. In a simulation experiment, the simulated accompanying vehicles in the effective detection area of the simulated main vehicle can be detected by the simulated main vehicle, so that the position relation between the simulated main vehicle and the simulated accompanying vehicles has a certain relation, and the information of the simulated accompanying vehicles belongs to effective information for the simulated main vehicle and can influence the motion state of the simulated main vehicle. The emulation owner car can detect the emulation in the effective detection area through its sensor of carrying on and accompany the measuring car, also can detect the emulation through other modes and accompany the measuring car, and concrete here does not do the restriction. The simulated vehicle accompanying random motion calculation module 230 may receive the motion information of the simulated main vehicle sent by the simulated main vehicle data collection sub-module 212 and the motion information of the simulated vehicle accompanying sent by the simulated vehicle accompanying data collection sub-module 213, and generate a motion instruction according to the information. It should be noted that the motion command generated by the simulated vehicle stochastic motion calculation module 230 has randomness, and the randomness of the motion command includes that the motion cycle size of the motion command may be randomly determined, and/or the motion state quantity (e.g., speed, acceleration) corresponding to the motion command may be randomly determined. The simulation accompanying vehicle random motion limiting module 240 receives the effective detection area sent by the effective area calculating module 220, the simulation accompanying vehicle random motion calculating module 230 sends a motion instruction, the simulation accompanying vehicle data acquisition submodule 213 sends a simulation accompanying vehicle motion limit, and the simulation accompanying vehicle motion control instruction is generated according to the information, so that the simulation accompanying vehicle does not exceed the motion limit of the simulation accompanying vehicle when the simulation accompanying vehicle moves in the effective detection area, damage to the simulation accompanying vehicle is avoided, and the safety of the technical scheme is enhanced.

In some optional embodiments, the simulation accompanying vehicle random motion limiting module 240 may not be included in the embodiments of the present application, in this case, the simulation accompanying vehicle random motion calculating module 230 may receive the effective detection area sent by the effective area calculating module 220, and the motion limit of the simulation accompanying vehicle sent by the simulation accompanying vehicle data collecting sub-module 213, and generate the motion control instruction of the simulation accompanying vehicle by combining the motion information of the simulation main vehicle and the motion information of the simulation accompanying vehicle, so that the simulation accompanying vehicle moves in the effective detection area, and it is ensured that the motion state of the simulation accompanying vehicle does not exceed its own motion limit.

In practical applications, there are many devices that can implement the simulation method provided in the embodiments of the present application based on the above design logic, and the devices may be devices that can run programs or instructions, such as terminal devices, or specific devices for performing simulation experiments, and besides, may also be other devices, which is not limited herein. The terminal device or the device may be a computer device, a vehicle-mounted computer, an intelligent robot, or the like, and the simulation method provided in the embodiment of the present application is described by taking the example where the execution main body is a simulation device.

According to the simulation method provided by the embodiment of the application, after the effective detection area is set, the simulation equipment can control the simulation accompanying and measuring vehicle to move in the effective detection area of the simulation main vehicle. The control emulation is accompanied and is surveyed the car and move in the effective detection area of emulation owner car, can include two kinds of situations, and one kind of situation is that the emulation that control is located outside the effective detection area is accompanied and is surveyed the car and get into the effective detection area, and one kind of situation is that the emulation that control is located inside the effective detection area is accompanied and is surveyed the car and keep normal motion state in the effective detection area. These two cases will be described separately below.

Firstly, controlling the simulation accompanying and testing vehicle outside the effective detection area to enter the effective detection area.

Referring to fig. 3, fig. 3 is a diagram illustrating an embodiment of a simulation method according to the present application, including:

301, obtaining the detection capability information of the simulated main vehicle.

In the simulation experiment, the simulation apparatus may acquire detectability information of the simulated host vehicle, the detectability information of the simulated host vehicle reflects detectability of the simulated host vehicle, the detector may be a sensor, and the detectability information may include a detectable region, a detection sensitivity, and the like, and may include other information, such as a detection response time, and the like, which is not limited herein. The detectable region refers to the largest region that can be sensed by the sensor, and may include a region where the simulated host vehicle can pass, a region where an obstacle is located, and the like, such as a rectangular region shown in fig. 4a and 4b, or a circular region shown in fig. 4 c.

302, obtaining the motion information of the simulated main vehicle.

The simulation device may further acquire motion information of the simulated host vehicle, where the motion information of the simulated host vehicle reflects a motion state of the simulated host vehicle, such as at least one of a velocity and an acceleration of the simulated host vehicle, and may also include other information indicating the motion state, such as at least one of a position of the simulated host vehicle and a traveling direction of the simulated host vehicle, which is not limited herein.

303, information of the simulation environment is obtained.

The simulation equipment can also comprise information of simulation environments where the simulated main car and the at least one simulated accompanying vehicle are located, the simulation environments refer to environments including the simulated main car and the at least one simulated accompanying vehicle, and in actual driving behaviors, different driving environments can have different influences on a driver, so that when simulation experiments are carried out, different driving environments can be simulated in order to be closer to a real situation, driving schemes can be detected in multiple aspects, and the accuracy of detection results is improved. The information of the simulation environment may include information of multiple levels, for example, road condition information, and weather information, which is not limited herein. Wherein the road condition information may include at least one of lane information and road indication information. The weather information may include rainfall, rainfall time, snowfall amount and/or snowfall time, and besides, the weather information may also be other information, such as visibility, wind speed and/or temperature, and the like, which is not limited herein.

The lane information may include at least one of a road type, a degree of road congestion, obstacle information, and abnormality information. The road types are various, and may be at least one of a single lane, a multi-lane, a one-way road and a two-way road, and may be other road types, such as a mountain road, a crossing road, and the like, depending on the division standard, which is not limited herein. The obstacle is an object to be avoided in the driving process, and the obstacle information indicates information related to the obstacle, such as the position and/or size of a road edge stone and the position of a pedestrian, and in addition, the obstacle information may also be other information, such as the position of a road pile, which is not limited herein. The abnormal information indicates an infrequent condition, such as a road surface collapse or an excessive amount of water on the road surface, and besides, the abnormal information may also be other conditions such as road construction, and is not limited herein.

It should be noted that, there is no necessary sequence from step 301 to step 303, and step 302, step 303 and step 301 may be executed first; or step 303 may be executed first, then step 301 is executed, and then step 302 is executed; step 301, step 302 and step 303 may also be executed simultaneously, and there may be other execution sequences, which are selected according to the needs of the actual application, and the specific details are not limited herein.

An effective detection area of the simulated host vehicle is determined 304.

After acquiring the detection capability information, the motion information and the information of the simulation environment of the simulated main vehicle, the simulation equipment can determine the effective detection area of the simulated main vehicle. The effective detection area of the simulated host vehicle is not only related to the position and detection capability information of the simulated host vehicle, but also related to the information of the simulated environment, and the area or the shape of the effective detection area may be different in different simulated environments. The area of the effective detection area is larger under the condition of a relatively open simulation environment or relatively strong detection capability of the simulated main vehicle, and the area of the effective detection area is smaller under the condition of more obstacles or relatively weak detection capability of the simulated main vehicle. In order to visually represent the effective detection area of the simulated main vehicle, please refer to fig. 4a, fig. 4b and fig. 4c, and fig. 4a, fig. 4b and fig. 4c are schematic views of application scenarios of the simulation method provided by the embodiment of the present application, a shaded portion in the drawings represents the effective detection area of the simulated main vehicle, as shown in fig. 4a, no obstacle exists in the effective detection area of the simulated main vehicle, as shown in fig. 4b, an obstacle exists in the effective detection area of the simulated main vehicle, and the positions and areas of the obstacle 1 and the obstacle 2 are different. In this case, the effective detection region may be regarded as an intersection of the detectable region of the simulated host vehicle and the passable road region. In the simulation experiment, whether an obstacle exists in the effective detection area of the simulated main vehicle or not, and the position and the area of the obstacle can be determined according to the requirements of practical application, and the specific details are not limited here. The detectable area of the simulated master vehicle may be in various situations due to the difference in the sensors carried by the simulated master vehicle, as shown in fig. 4c, and the detectable area of the simulated master vehicle may be a circle, as opposed to a rectangle as shown in fig. 4a and 4 b. In this case, the effective detection area of the simulated subject is a shaded portion shown in fig. 4 c.

It should be noted that the size of the effective detection area may also be related to the management granularity of the simulation experiment, if the management granularity of the simulation experiment is relatively coarse, the effective detection area may allow a certain compensation interval to exist outwards, and when the simulated vehicle enters the compensation interval, the simulated vehicle is also regarded as being located within the effective detection area. If the management granularity of the simulation experiment is fine, the effective detection area can be inwards contracted by a certain compensation interval, and when the simulation accompanying vehicle enters the compensation interval, the simulation accompanying vehicle is regarded as exceeding the effective detection area. The size of the compensation interval is determined according to the needs of practical application, and is not limited herein.

And 305, acquiring the respective motion information of at least one simulated test vehicle.

The simulation equipment can also acquire the respective motion information of at least one simulation accompanying vehicle. The number of the simulation accompanying vehicles is related to the setting of the experiment situation of the simulation experiment, and can be selected manually in advance, and the number and the initial positions of the simulation accompanying vehicles can be different in different simulation experiments. For example, if the set experimental scenario is following, the number of the simulated test vehicles can be only one, and the initial position is located in front of the simulated main vehicle; if the set experimental situation is that the simulated main vehicle overtakes on three lanes, the number of the simulated accompanying vehicles can be three, and the initial positions are respectively positioned in front of, on the left side of and on the right side of the simulated main vehicle. Besides, other target scenarios can be adopted, for example, the set experimental scenario is that the simulated main vehicle changes lanes on multiple lanes, the number of the simulated accompanying vehicles can be two, the initial positions of the simulated accompanying vehicles are respectively located on the right side and the rear side of the simulated main vehicle, and the number and the initial positions of the simulated accompanying vehicles are selected according to the needs of practical application, and are not limited herein.

The motion information of the simulated test vehicle reflects the motion state of the simulated test vehicle, including the position of the simulated test vehicle and the speed of the simulated host vehicle, and in addition, other information representing the motion state, such as the driving direction and the acceleration of the simulated host vehicle, can be provided, and the details are not limited herein.

306, determining whether the first simulated accompanying vehicle is located in the effective detection area, if so, executing step 307, and if not, executing step 308.

After the respective motion information of the effective detection area and the at least one simulated test vehicle is determined, the simulation equipment can determine whether a first simulated test vehicle which is not located in the effective detection area exists in the at least one simulated test vehicle. In the simulation experiment, each vehicle model can be abstractly understood as a rectangle, and the simulation equipment can set the simulated main vehicle to determine whether the simulated auxiliary vehicle is located in the effective detection area by detecting the frame of the rectangle.

To more clearly illustrate the situation that the first simulated escort vehicle is not located in the effective detection area, please refer to fig. 5, and fig. 5 is a schematic view of an application scenario of the simulation method in the embodiment of the present application. As shown in fig. 5, the hatched area in the figure represents an effective detection area of the simulated subject vehicle. When the simulated main car detects the frame of the simulated accompanying and measuring car, various possible situations exist, one frame can be detected, and a plurality of frames can also be detected, and the specific situation is not limited here. If the upper frame of the simulated accompanying vehicle is used as the detection basis, in the embodiment shown in fig. 5, the simulated accompanying vehicle B and the simulated accompanying vehicle C are located in the effective detection area of the simulated main vehicle, and the simulated accompanying vehicle a and the simulated accompanying vehicle D are not located in the effective detection area of the simulated main vehicle. In other experimental situations, other boundaries of the simulated accompany-testing vehicle can be used as judgment bases. For example, in an experimental scenario of following a car, a lower frame of the simulated vehicle for accompanying test can be used as a basis for detection, in the embodiment shown in fig. 5, the simulated vehicle for accompanying test a, the simulated vehicle for accompanying test B and the simulated vehicle for accompanying test C are all located within an effective detection area of the simulated main car, and the simulated vehicle for accompanying test D is not located within the effective detection area of the simulated main car. The simulated main vehicle can also detect a plurality of frames, such as a left frame and a lower frame of the vehicle to be tested, and the lower frame is overlapped with the boundary of the effective detection area, so that the simulated vehicle to be tested A can be considered to be positioned in the effective detection area. The outline for simulating the detection of the main vehicle is selected according to the requirements of practical application, and is not limited in detail here.

The simulation accompanying and surveying vehicle reports the position of the simulation accompanying and surveying vehicle to the simulation main vehicle under various conditions, and the contents of the part are not the focus of the technical scheme, so that the description is only simple. In some optional embodiments, the simulation test vehicle may use a central point of the simulation test vehicle as a reporting basis, and the point represents a position of the simulation test vehicle. In practical application, other points can be used as reporting bases, for example, x points shown in fig. 5, and the selection of the reporting bases is selected according to the requirements of practical application, which is not specifically limited herein, but it is required to ensure that the positions of the points at each simulated test car are consistent, so as to ensure the accuracy of the experimental data.

307, controlling at least one simulated test vehicle to maintain the current motion state.

If the simulation equipment determines that at least one simulated test vehicle is in the effective detection area, the simulation equipment can control at least one simulated test vehicle to maintain the current motion state without changing the motion states of the simulated test vehicles.

And 308, controlling the first simulation accompanying and testing vehicle to enter an effective detection area.

If the simulation equipment determines that a first simulation accompanying and testing vehicle in at least one simulation accompanying and testing vehicle is not located in the effective detection area, the simulation equipment can change the motion state of the first simulation accompanying and testing vehicle and control the first simulation accompanying and testing vehicle to enter the effective detection area. The mode that simulation equipment controls first emulation vehicle of accompanying and testing to get into effective detection area has a lot of, is relevant with the motion state of first emulation vehicle of accompanying and testing, can be the acceleration motion of controlling first emulation vehicle of accompanying and testing, also can be the deceleration motion of controlling first emulation vehicle of accompanying and testing, can also be other modes, for example, control first emulation vehicle of accompanying and testing changes the driving direction, simulation equipment controls the mode that first emulation vehicle of accompanying and testing got into effective detection area and selects according to practical application's needs, and concrete here does not limit.

For example, if the first simulated test vehicle is behind the simulated main vehicle and the simulated main vehicle is in a state of uniform forward motion, the first simulated test vehicle can be controlled to accelerate forward motion, so that the first simulated test vehicle enters an effective detection area in one detection period. If the first simulation accompanying and testing vehicle carries out deceleration movement at constant acceleration before the simulation main vehicle, the first simulation accompanying and testing vehicle can be controlled to decelerate forward movement, and therefore the first simulation accompanying and testing vehicle enters an effective detection area in a detection period. If the first simulation accompanying and testing vehicle is arranged on the right side of the simulation main vehicle, and the simulation main vehicle moves forwards at a constant speed, the first simulation accompanying and testing vehicle can be controlled to change the driving direction and drive leftwards so as to enter an effective detection area.

In the embodiment of the application, the effective detection area of the simulated main vehicle is determined, and the movement information of the simulated main vehicle and the movement information of the at least one simulated accompanying vehicle are combined, so that the at least one simulated accompanying vehicle can be controlled to move in the effective detection area. The motion information of the simulated accompanying and measuring vehicle in the effective detection area has a large influence on the simulated main vehicle and belongs to effective information for the simulated main vehicle, so that the motion state of the simulated main vehicle can be influenced, an expected scene required by a simulation experiment is achieved, and the simulation efficiency is improved.

Furthermore, when the first simulation accompanying and testing vehicle which is not located in the effective detection area exists in at least one simulation accompanying and testing vehicle, the motion state of the first simulation accompanying and testing vehicle can be changed by the simulation equipment, so that the first simulation accompanying and testing vehicle enters the effective detection area. The simulation test efficiency can be improved, and the waste of computing power resources can be avoided to a certain extent.

And secondly, controlling the simulated accompanying and measuring vehicle positioned in the effective detection area to keep a normal motion state in the effective detection area.

In the embodiment of the application, the simulation equipment can control the simulation accompanying and measuring vehicle located in the effective detection area to keep a normal motion state in the effective detection area. The normal motion state may include various conditions, for example, the simulation device may further control the simulation test vehicle to remain within the effective detection area in a case where the simulation test vehicle is about to leave the effective detection area. The simulation device can also control the simulated accompanying vehicle in the effective detection area to avoid the obstacle, keep the normal running speed, avoid the violent driving behavior and the like, which are respectively explained below.

And 1, controlling the simulation accompanying and measuring vehicle not to leave an effective detection area.

Please refer to fig. 6, fig. 6 is a diagram illustrating an embodiment of a simulation method according to an embodiment of the present application, including:

601, acquiring detection capability information of the simulated main vehicle.

And 602, acquiring motion information of the simulated main vehicle.

603, acquiring the information of the simulation environment.

604, an effective detection area of the simulated host vehicle is determined.

In this embodiment, steps 601 to 604 are similar to steps 301 to 304 in the embodiment shown in fig. 3, and are not repeated here.

605, determining a first position of the second simulated test vehicle at the current moment.

In order to ensure the continuity of the simulation experiment, the simulation system can continuously refresh various data (including the motion information of the simulated main vehicle, the motion information of the simulated accompanying vehicle and other information required by the simulation experiment) in the simulation system. The simulation equipment can detect various data once every other detection period, so that the motion states of the simulated main vehicle and the simulated accompanying vehicle are adjusted in time, and the simulation experiment is ensured to be in an expected experiment state as far as possible. In the existing simulation equipment, the simulation period can reach the millisecond level, and data in a simulation system can be refreshed every 1 millisecond, so that the sensitivity of the simulation equipment is enhanced.

The simulation device can detect the first position of the second simulation test vehicle in at least one simulation test vehicle at the beginning of one detection period at the moment. For example, if the simulation period is 5 seconds, the simulation device may detect the position of each simulated vehicle in the simulation system at 1 second, and detect the position of each simulated vehicle in the simulation system again at 6 seconds.

And 606, predicting a first time length for the second simulation test vehicle to move from the first position to the outside of the effective detection area.

When the simulation device acquires the first position of the second simulation accompanying vehicle, the motion information of the second simulation accompanying vehicle, including at least one of speed, acceleration and driving direction, and other motion information, may also be acquired, and the specific details are not limited herein. The simulation device may then predict a first length of time that the second simulated test vehicle moves from the first position outside of the active detection area.

607, determining whether the first duration is less than or equal to a detection period, if yes, executing step 608; if not, go to step 609.

After the simulation equipment determines that the first time length is predicted, the relation between the first time length and one detection period can be judged, and therefore whether the second simulation accompanying and measuring vehicle exceeds an effective detection area in one detection period is determined. And controlling the motion state of the second simulation accompanying and measuring vehicle according to different comparison results.

And 608, controlling the second simulation accompanying and testing vehicle to be maintained in the effective detection area.

Under the condition that the first time length is less than or equal to one detection period, the second simulation accompanying and measuring vehicle exceeds the effective detection area within one detection period, so that the simulation equipment needs to control the second simulation accompanying and measuring vehicle to be maintained within the effective detection area, and the simulation experiment is in an expected experiment scene.

The mode that emulation equipment control second emulation is accompanied and is surveyed the car and maintain within effective detection area has the multiple, can control the second emulation and accompany the survey car and accelerate, also can control the second emulation and accompany the speed reduction of surveying the car, can also be other implementation, and it is not restricted here specifically to be concrete. For example, if the current motion state of the simulated test vehicle is that the simulated test vehicle travels rightwards at a constant speed, and the simulated main vehicle travels on the left side of the simulated test vehicle at a constant speed, the simulation device may control the second simulated test vehicle to travel leftwards at a constant speed for a period of time, and then travel forwards at a constant speed, so that the second simulated test vehicle is within the effective detection area in one detection period.

609, the motion state of the second simulated accompany vehicle is not changed.

If the first duration is longer than a detection period, the simulation equipment does not change the motion state of the second simulation accompanying and measuring vehicle. This also reduces the waste of computational resources.

Alternatively, steps 605 to 609 in the embodiment shown in fig. 6 may be executed after step 305 in the embodiment shown in fig. 3, and are combined with the embodiment shown in fig. 3 to form a technical solution. That is to say, in a technical scheme of this application, simulation equipment both can control the first emulation of not in effective detection area and accompany the testing car and get into effective detection area, can control the second emulation that will leave effective detection area again and accompany the testing car and keep moving in effective detection area. It should be noted that, if the steps 306 to 308 are regarded as a whole and the steps 605 to 609 are regarded as a whole, in one technical solution of the present application, there is no necessary sequence between the steps 306 to 308 and the steps 605 to 609, the steps 306 to 308 may be executed first, the steps 605 to 609 may be executed first, the steps 306 to 308 may also be executed simultaneously, and the steps 605 to 609 are selected according to the needs of the actual application, which is not limited herein.

Furthermore, under the condition that the second simulation accompanying and measuring vehicle leaves the effective detection area in a detection period, the motion state of the second simulation accompanying and measuring vehicle can be changed by the simulation equipment, so that the second simulation accompanying and measuring vehicle maintains the effective detection area, the simulation experiment is maintained in an expected experiment scene, and the simulation efficiency is improved.

And 2, controlling the simulated accompanying and testing vehicle in the effective detection area to avoid the obstacle.

Among this application technical scheme, the simulation equipment except can controlling the simulation that is located outside the effective detection area and accompany the effective detection area in the survey car built-in to and control at least one simulation and accompany the survey car and do not surpass the effective detection area outside, can also control each simulation and accompany the survey car and normally move in the effective detection area, in time avoid the barrier. Referring to fig. 7, fig. 7 is a schematic diagram illustrating an embodiment of a simulation method according to an embodiment of the present disclosure, where the simulation method includes:

701, obtaining the detection capability information of the simulated main vehicle.

And 702, acquiring the motion information of the simulated main vehicle.

703, obtaining the information of the simulation environment.

An effective detection area of the simulated host vehicle is determined 704.

705, obtaining respective motion information of at least one simulated test vehicle.

In this embodiment, steps 701 to 705 are similar to steps 301 to 305 in the embodiment shown in fig. 3, and are not repeated herein.

And 706, determining a second position of the third simulated test vehicle at the current moment.

After the respective motion information of each simulated accompanying vehicle is acquired, the simulation equipment can determine the second position of a third simulated accompanying vehicle in at least one simulated accompanying vehicle in the effective detection area at the current moment, and the motion information of the third simulated accompanying vehicle, such as the speed, the acceleration, the driving direction and the like of the third simulated accompanying vehicle.

707, determining a third position of the obstacle.

The simulation device may further obtain position information of an obstacle in the simulation environment, where the obstacle is an object to be avoided in the driving process, and may be in a stationary state or a moving state with respect to a geodetic coordinate system, and the details are not limited herein. For example, the simulation device may obtain the position of a pedestrian, the position of a curb, or the position of other obstacles.

708, predicting whether a second time length for the third simulated test vehicle to move from the second position to the third position is less than or equal to a detection period, if so, executing step 709; if not, go to step 710.

After the simulation equipment determines the second position of the third simulation accompanying and testing vehicle and the point position of the obstacle, the second time length which is required to be spent by the third simulation accompanying and testing vehicle to move from the second position to the third position can be predicted by combining the movement information of the third simulation accompanying and testing vehicle. And then comparing the second duration with a detection period to determine whether the third simulation accompanying and measuring vehicle collides with the obstacle within the detection period, and controlling the movement of the third simulation accompanying and measuring vehicle according to a prediction result, so that the third simulation accompanying and measuring vehicle avoids the obstacle, and the driving safety is improved.

And 709, controlling the third simulation accompanying and testing vehicle to avoid the obstacle.

And if the second duration is less than or equal to one detection period, the third simulated test vehicle can impact the obstacle in one detection period. In order to ensure the driving safety, the simulation equipment needs to control the third simulation accompanying and testing vehicle to avoid the obstacle. In practical application, the simulation equipment has multiple modes to control the third simulation accompanying and measuring vehicle to avoid the obstacle, the third simulation accompanying and measuring vehicle can be controlled to accelerate or decelerate, the third simulation accompanying and measuring vehicle can be controlled to change the driving direction, in addition, other modes which can enable the third simulation accompanying and measuring vehicle to avoid the obstacle can be adopted, and the specific situation is not limited. For example, if the obstacle is located in front of the third simulated test vehicle, and the third simulated test vehicle is in a state of accelerating forward movement, the simulation device may control the third simulated test vehicle to decelerate or change the driving direction.

And 710, not changing the motion state of the third simulated accompany-testing vehicle.

If the second duration is longer than one detection period, the third simulation test vehicle does not collide with the obstacle in one detection period. In this case, the simulation device does not need to change the motion state of the third simulation test vehicle.

Alternatively, steps 706 to 710 in the embodiment shown in fig. 7 may be performed after step 305 in the embodiment shown in fig. 3, and form a technical solution with the embodiment shown in fig. 3. That is to say, in a technical scheme of this application, simulation equipment both can control the first emulation of not in effective detection area to accompany the testing car and enter into within the effective detection area, can control the third emulation of following within the effective detection area to accompany the testing car and avoid the barrier again. It should be noted that, if the steps 306 to 308 are regarded as a whole and the steps 706 to 710 are regarded as a whole, in one technical solution of the present application, there is no necessary sequence between the steps 306 to 308 and the steps 706 to 710, the steps 306 to 308 may be executed first, the steps 706 to 710 may be executed first, the steps 306 to 308 may be executed simultaneously, and the steps 706 to 710 may be executed first, which are selected according to the needs of practical applications, and specific details are not limited herein.

Alternatively, steps 706 to 710 in the embodiment shown in fig. 7 may be performed after step 604 in the embodiment shown in fig. 6, and form a technical solution with the embodiment shown in fig. 6. In other words, in a technical scheme of the present application, the simulation device may control the second simulation accompanying and measuring vehicle that will leave the effective detection area to keep moving in the effective detection area, and may control the third simulation accompanying and measuring vehicle in the effective detection area to avoid the obstacle. It should be noted that, if steps 605 to 609 are regarded as a whole and steps 706 to 710 are regarded as a whole, in one technical solution of the present application, there is no necessary sequence between steps 605 to 609 and steps 706 to 710, and steps 605 to 609, or steps 706 to 710 may be performed first, or steps 605 to 609, and steps 706 to 710 may be performed simultaneously, which are selected according to the needs of the actual application, and the specific details are not limited herein.

Optionally, steps 301 to 305, step 306 to step 308 in the embodiment shown in fig. 3, steps 605 to 609 in the embodiment shown in fig. 6, and step 706 to step 710 in the embodiment shown in fig. 7 may be combined to form a technical solution. That is to say, in a technical scheme of this application, simulation equipment both can control the first emulation that is not in effective detection area and accompany the testing car and get into effective detection area, can control the first emulation that is not in effective detection area and accompany the testing car and get into effective detection area again, can also control the third emulation that is in effective detection area and accompany the testing car and keep away the barrier. It should be noted that, if the steps 306 to 308 are regarded as a whole, the steps 605 to 609 are regarded as a whole, and the steps 706 to 710 are regarded as a whole, then, in a technical solution of the present application, there is no necessary sequence among the three whole, the steps 605 to 609 may be executed first, the steps 706 to 710 may also be executed first, and the steps 306 to 308, the steps 605 to 609, and the steps 706 to 710 may also be executed simultaneously, which is selected according to the needs of the actual application, and is not limited herein.

It should be noted that, in practical application, the second simulation accompanying and measuring vehicle and the third simulation accompanying and measuring vehicle may correspond to the same simulation accompanying and measuring vehicle located in the effective detection area, and in this case, the simulation equipment can control the simulation accompanying and measuring vehicle not to leave the effective detection area, but also to avoid the obstacle, so that the flexibility of the technical scheme of the application is improved.

Further, the simulation equipment can control the third simulation accompanying and measuring vehicle to avoid the obstacle through the position relation between the third simulation accompanying and measuring vehicle and the obstacle in the effective detection area, and the safety of the technical scheme of the application is improved.

And 3, controlling the simulated accompany vehicle in the effective detection area to move relative to the simulated main vehicle.

In order to ensure the richness of a simulation experiment and the diversification of simulation conditions, the simulation method provided by the embodiment of the application can control the motion state of the simulation accompanying vehicle to change by judging the motion condition of the simulation accompanying vehicle relative to the simulation main vehicle. Referring to fig. 8, fig. 8 is a diagram illustrating an embodiment of a simulation method according to an embodiment of the present application, where the simulation method includes:

801, detection capability information of the simulated main vehicle is obtained.

And 802, acquiring the motion information of the simulated main vehicle.

803, information of the simulation environment is acquired.

And 804, determining an effective detection area of the simulated main vehicle.

805, obtaining respective motion information of at least one simulated test vehicle.

In this embodiment, steps 801 to 805 are similar to steps 301 to 305 in the embodiment shown in fig. 3, and are not described herein again.

806, determining a third duration for which the fourth simulated test vehicle and the simulated host vehicle remain relatively stationary.

After the simulation equipment acquires the respective motion information of the at least one simulated accompanying vehicle and the motion information of the simulated main vehicle, a third time length that a fourth simulated accompanying vehicle and the simulated main vehicle in the at least one simulated accompanying vehicle are kept relatively still can be determined. In practical application, the fact that the simulated accompanying vehicle and the simulated main vehicle are kept relatively static means that the speed, the acceleration and the like of the simulated accompanying vehicle are the same as those of the simulated main vehicle, and if the simulated main vehicle and the simulated accompanying vehicle are in such a state for a long time, the influence on the simulated main vehicle is small, and the driving scheme carried on the simulated main vehicle is difficult to evaluate and optimize. Therefore, the simulation equipment needs to determine a third time length for keeping the simulation test vehicle and the simulation main vehicle in a relative static state.

807, determining whether the third time length is greater than or equal to a preset time length, if so, executing a step 808; if not, go to step 809.

After the third duration is obtained, the simulation device may compare the relationship between the third duration and the preset duration. And according to the comparison result, corresponding operation is executed on the fourth simulation accompanying and testing vehicle. The preset duration can be manually input in advance, and in different experimental scenes, the preset duration can be the same or different, and is selected according to the requirements of practical application, and the specific details are not limited herein.

And 808, controlling the fourth simulated accompanying vehicle to move relative to the simulated main vehicle.

If the third duration is greater than or equal to the preset duration, the duration that the fourth simulation accompanying vehicle and the simulation main vehicle keep relatively static exceeds the preset duration, and if the fourth simulation accompanying vehicle continues to keep relatively static with the simulation main vehicle, the simulation experiment is not greatly assisted. In this case, the simulation equipment can change the motion state of the fourth simulation accompanying and measuring vehicle and control the fourth simulation accompanying and measuring vehicle to move relative to the simulation main vehicle, so that the experimental scene is enriched.

And 809, not changing the motion state of the fourth simulated test vehicle.

If the third duration is less than the preset duration, the motion state of the fourth simulation accompanying and measuring vehicle can not be changed by the simulation equipment.

Optionally, in the application, after the embodiment 805 shown in fig. 8, at least one of steps 306 to 308 in the embodiment shown in fig. 3, steps 605 to 609 in the embodiment shown in fig. 6, and step 706 to step 710 in the embodiment shown in fig. 7 may also be performed to combine into another technical solution. It should be noted that, in practical applications, at least one of the steps 306 to 308, 605 to 609, and 706 to 710 has no necessary sequence with the steps 806 to 809, and is selected according to the needs of practical applications, and the specific details are not limited herein.

In practical application, multiple combinations are possible, and multiple technical schemes can be formed after the combinations, so that in one technical scheme of the application, the simulation equipment can control a first simulation test vehicle which is not in an effective detection area to enter the effective detection area, control a second simulation test vehicle which is about to leave the effective detection area to be kept in the effective detection area, control a third simulation test vehicle in the effective detection area to avoid at least one function of obstacles, and control a fourth simulation test vehicle in the effective detection area to move relative to the simulation main vehicle. For economy of space, the description is not provided herein. In the embodiment of the application, the effective detection area of the simulated main vehicle is determined, and the motion information of the simulated main vehicle and the motion information of the at least one simulated accompanying vehicle are combined, so that the at least one simulated accompanying vehicle can be controlled to move in the effective detection area. The motion information of the simulated accompanying and measuring vehicle in the effective detection area has a large influence on the simulated main vehicle and belongs to effective information for the simulated main vehicle, so that the motion state of the simulated main vehicle can be influenced, an expected scene required by a simulation experiment is achieved, and the simulation efficiency is improved.

Further, the simulation equipment can change the motion state of the fourth simulation accompanying vehicle under the condition that the relative rest time of the fourth simulation accompanying vehicle and the simulation main vehicle is longer, so that the fourth simulation accompanying vehicle moves relative to the simulation main vehicle. The experimental scene of the simulation experiment is enriched, and the flexibility and the practicability of the technical scheme are improved.

And 4, controlling the speed of the simulated accompanying vehicle within a preset speed range.

In different simulation experiments, the speed requirements of the simulation accompanying vehicle may be different, and in this case, the simulation equipment can adjust the speed of the simulation accompanying vehicle according to the needs of the experiments. Referring to fig. 9, fig. 9 is a diagram illustrating an embodiment of a simulation method according to an embodiment of the present application, where the simulation method includes:

901, obtaining the detection capability information of the simulated main vehicle.

And 902, acquiring the motion information of the simulated main vehicle.

And 903, acquiring the information of the simulation environment.

904, an effective detection area of the simulated host vehicle is determined.

905, obtaining respective motion information of at least one simulated accompanying vehicle.

In this embodiment, steps 901 to 905 are similar to steps 301 to 305 in the embodiment shown in fig. 3, and are not repeated here.

906, determining whether the speed of the fifth simulated accompany test vehicle is not within a preset speed range, if so, executing a step 907; if not, go to step 908.

The preset speed of the simulation accompanying and measuring vehicle can be manually preset according to the needs of experimental situations. In different simulation experiments, the preset speed of each simulation accompanying and measuring vehicle can be the same or different, and the speed can be selected according to the requirements of practical application, and the specific speed is not limited here.

For example, if the simulation experiment simulates that the vehicle runs on an expressway, the lowest speed per hour is 80km/h, and the highest speed per hour is 100km/h, the simulation device needs to determine whether the speed of a fifth simulation test vehicle in at least one simulation test vehicle is not within the preset speed interval, so as to avoid violating the traffic rules.

For example, if the simulation experiment simulates that the vehicle runs on a winding mountain road, the maximum speed per hour can be preset to be 60km/h in order to ensure the driving safety. The simulation equipment needs to determine whether the speed of the fifth simulation accompanying and testing vehicle is greater than 60km/h in at least one simulation accompanying and testing vehicle, so that accidents are avoided.

907, controlling the speed of the fifth simulated accompanying vehicle within a preset speed range.

If the simulation equipment determines that the speed of the fifth simulation accompanying and testing vehicle is not within the preset speed range, the simulation equipment can control the fifth simulation accompanying and testing vehicle to accelerate or decelerate so that the speed of the fifth simulation accompanying and testing vehicle returns to the preset speed range. For example, if the simulation experiment simulates that the vehicle runs on an urban overpass, the minimum speed per hour can be set to 30km/h and the maximum speed per hour can be set to 50km/h in order to ensure traffic safety and order. If the speed of the fifth simulation test vehicle at the current moment is detected to be 52km/h and the fifth simulation test vehicle is accelerated at constant acceleration under the condition, the simulation equipment can control the fifth simulation test vehicle to do deceleration movement and keep constant speed movement when the fifth simulation test vehicle decelerates to 45 km/h.

And 908, not changing the motion state of the fifth simulated test vehicle.

If the simulation equipment determines that the speed of the fifth simulation accompanying and measuring vehicle is within the preset speed range, the simulation equipment does not change the motion state of the fifth simulation accompanying and measuring vehicle.

Optionally, in the application, after the embodiment 905 shown in fig. 9, at least one of steps 306 to 308 in the embodiment shown in fig. 3, steps 605 to 609 in the embodiment shown in fig. 6, steps 706 to 710 in the embodiment shown in fig. 7, and steps 806 to 809 in the embodiment shown in fig. 8 may also be performed to combine into another technical solution. That is to say, in practical application, there are multiple combinations that are possible, and multiple technical solutions may be formed after the combinations, so that in one technical solution of the present application, the simulation device may implement a function of controlling a first simulated vehicle located outside an effective detection area to enter the effective detection area, controlling a second simulated vehicle that will leave the effective detection area to remain in the effective detection area, controlling a third simulated vehicle in the effective detection area to avoid an obstacle, and controlling at least one of a movement of a fourth simulated vehicle within the effective detection area relative to a simulated main vehicle, and may also implement a function of controlling a speed of a fifth simulated vehicle within the effective detection area to be within a preset speed range. For economy of space, the description is not provided herein. It should be noted that, in practical applications, at least one of the steps 306 to 308, steps 605 to 609, steps 706 to 710, and steps 806 to 809 does not have a necessary sequence with the steps 905 to 908, and the sequence is selected according to the needs of practical applications, and is not limited herein.

Furthermore, the simulation equipment can also control the speed of a fifth simulation accompanying and measuring vehicle to be kept within a preset speed range according to the relation between the speed of the fifth simulation accompanying and measuring vehicle in the at least one simulation accompanying and measuring vehicle and the preset speed range, so that dangerous driving behaviors are avoided. The safety and the realizability of the technical scheme are improved.

And 5, controlling the driving direction range of the simulated accompanying and testing vehicle in the effective detection area.

In practical application, the simulation equipment can also judge whether the driving direction range of each simulation accompanying and testing vehicle meets the experimental requirements or not, and carry out different treatments on different conditions. Referring to fig. 10, fig. 10 is a diagram illustrating an embodiment of a simulation method according to an embodiment of the present application, where the simulation method includes:

1001, detection capability information of the simulated main vehicle is acquired.

And 1002, acquiring motion information of the simulated main vehicle.

1003, acquiring information of the simulation environment.

1004, an effective detection area of the simulated host vehicle is determined.

And 1005, acquiring the respective motion information of at least one simulated test accompanying vehicle.

In this embodiment, steps 1001 to 1005 are similar to steps 301 to 305 in the embodiment shown in fig. 3, and are not repeated herein.

1006, determining whether the driving direction range of the sixth simulated accompanying vehicle is different from the preset driving direction range, if so, executing step 1007; if not, go to step 1008.

In consideration of the actual driving process, on the premise of ensuring that the direction is not changed, due to different habits of drivers or the fact that overtaking and the like can occur in the driving process and other situations can cause the direction of the vehicle to change in the normal driving process, the driving direction of the vehicle can be allowed to swing within a certain range in the simulation experiment provided by the embodiment of the application. The preset driving direction range of the simulation accompanying and measuring vehicle can be manually preset according to the requirements of experimental scenes. In different simulation experiments, the preset driving direction ranges of the simulation accompanying and measuring vehicles can be the same or different, and are selected according to the requirements of practical application, and the specific range is not limited.

For example, if the simulation simulates moving from north to south on a straight one-way road, the predetermined driving direction range may be 30 ° north to 50 ° north.

1007, controlling the driving direction range of the fifth simulated accompanying and testing vehicle to return to the preset driving direction range.

If the driving direction range of the sixth simulation accompanying and testing vehicle exceeds the preset driving direction range, the simulation equipment can change the driving direction of the sixth simulation and control the driving direction range of the sixth simulation accompanying and testing vehicle to return to the preset driving direction range.

For example, if the geodetic coordinate system is used as a reference, the preset driving direction range is from north west 40 ° to south west 10 °, and the driving direction of the fifth simulated vehicle accompanied by detection is from south west 40 °, the simulation device may control the fifth simulated vehicle accompanied by detection to move in the north west direction, so that the driving direction range of the sixth simulated vehicle accompanied by detection returns to the preset driving direction range.

The condition that the driving direction range of the sixth simulated accompany-testing vehicle exceeds the preset driving direction range can correspond to various conditions in a real driving scene, such as retrograde motion, backing or transverse and straight collision on a road, and can also correspond to other conditions, and the specific situation is not limited herein.

And 1008, the motion state of the sixth simulated test vehicle is not changed.

If the driving direction range of the fifth simulation accompanying and measuring vehicle does not exceed the preset driving direction range, the motion state of the sixth simulation accompanying and measuring vehicle can not be changed by the simulation equipment.

Optionally, in the application, after the embodiment 1005 shown in fig. 10, at least one of steps 306 to 308 in the embodiment shown in fig. 3, steps 605 to 609 in the embodiment shown in fig. 6, steps 706 to 710 in the embodiment shown in fig. 7, steps 806 to 809 in the embodiment shown in fig. 8, and steps 905 to 908 in the embodiment shown in fig. 9 may also be executed to combine into another technical solution. That is, in practical applications, there are many possible combinations, which can form a plurality of solutions, in one technical scheme of the application, the simulation equipment can control a first simulation accompanying and measuring vehicle which is positioned outside an effective detection area to enter the effective detection area, control a second simulation accompanying and measuring vehicle which is about to leave the effective detection area to be kept in the effective detection area, control a third simulation accompanying and measuring vehicle in the effective detection area to avoid obstacles, control a fourth simulation accompanying and measuring vehicle in the effective detection area to move relative to a simulation main vehicle, and the function of controlling at least one item of speed of the fifth simulation accompanying and measuring vehicle in the effective detection area within a preset speed range can be realized, and the function of controlling the driving direction range of the sixth simulation accompanying and measuring vehicle in the effective detection area within the preset driving direction range can be realized. For economy of space, the description is not provided herein. It should be noted that, in an actual application, at least one of the steps 306 to 308, 605 to 609, 706 to 710, 806 to 809, and 905 to 908 and the steps 1006 to 1008 do not have a necessary sequence, and the sequence is selected according to the needs of the actual application, and is not limited herein.

In the embodiment of the application, the effective detection area of the simulated main vehicle is determined, and the motion information of the simulated main vehicle and the motion information of the at least one simulated accompanying vehicle are combined, so that the at least one simulated accompanying vehicle can be controlled to move in the effective detection area. The motion information of the simulated accompanying and measuring vehicle in the effective detection area has a large influence on the simulated main vehicle and belongs to effective information for the simulated main vehicle, so that the motion state of the simulated main vehicle can be influenced, an expected scene required by a simulation experiment is achieved, and the simulation efficiency is improved.

Furthermore, the simulation equipment can compare the driving direction range of a sixth simulation accompanying and measuring vehicle in at least one simulation accompanying and measuring vehicle with the preset driving direction range, and control the sixth simulation accompanying and measuring vehicle to move within the preset driving direction range according to the comparison result, so that the driving direction of each simulation accompanying and measuring vehicle is in a reasonable state, traffic accidents or dangerous driving behaviors are avoided, and the reliability of the technical scheme is improved.

6, restraining the simulation accompanying vehicle in the effective detection area from driving violently.

The simulation method provided in the embodiment of the present application may further suppress the violent driving behavior, which is described below with reference to fig. 11, where fig. 11 is an embodiment of the simulation method provided in the embodiment of the present application, and includes:

And 1101, acquiring detection capability information of the simulated main vehicle.

1102, motion information of the simulated host vehicle is obtained.

1103, information of the simulation environment is obtained.

An effective detection area of the simulated host vehicle is determined 1104.

1105, obtaining the respective motion information of at least one simulated test vehicle.

In this embodiment, steps 1101 to 1105 are similar to steps 301 to 305 in the embodiment shown in fig. 3, and are not repeated here.

1106, determining whether the direction change rate of the seventh simulated accompanying vehicle is greater than or equal to the preset direction change rate, if so, executing step 1107; if not, go to step 1108.

In actual driving behaviors, there may be violent driving behaviors including a rapid increase in the amount of change in the direction of the vehicle in a short time, and such a situation may not only cause great damage to the vehicle itself but also cause casualties. Therefore, in the simulation method provided by the embodiment of the application, the preset direction change rate can be set for each simulation accompanying and measuring vehicle. And controlling the simulation accompanying and measuring vehicle to execute different operations by comparing the actual direction change rate of the simulation accompanying and measuring vehicle with the preset direction change rate.

The preset direction change rate of the simulation accompanying vehicle can be manually preset according to the requirements of experimental scenes. In different simulation experiments, the preset direction change rates of the simulation accompanying vehicles can be the same or different, and are selected according to the requirements of practical application, and the specific situation is not limited.

And 1107, changing the motion state of the seventh simulated accompany-testing vehicle.

If the direction change rate of the seventh simulation accompanying and testing vehicle is larger than or equal to the preset direction change rate, the seventh simulation accompanying and testing vehicle is in a fierce driving state, and the simulation equipment needs to reduce the direction change rate of the seventh simulation accompanying and testing vehicle through various modes. Various ways for reducing the direction change rate of the seventh simulated accompanying and measuring vehicle by the simulation equipment can be provided, so that the seventh simulated accompanying and measuring vehicle is controlled to move in the opposite direction while the speed of the seventh simulated accompanying and measuring vehicle is reduced; the seventh simulation accompanying test vehicle can also be controlled to emergently brake; in addition, the direction change rate of the seventh simulated accompanying vehicle can be reduced in other manners, and the direction change rate can be selected according to the requirements of practical application, and the details are not limited herein.

1108, the motion state of the seventh simulated test vehicle is not changed.

If the direction change rate of the seventh simulation accompanying and measuring vehicle is smaller than the preset direction change rate, the motion state of the seventh simulation accompanying and measuring vehicle can not be changed by the simulation equipment.

Optionally, in the implementation of the present application, after the embodiment 1105 shown in fig. 11, at least one of steps 306 to 308 in the embodiment shown in fig. 3, steps 605 to 609 in the embodiment shown in fig. 6, steps 706 to 710 in the embodiment shown in fig. 7, steps 806 to 809 in the embodiment shown in fig. 8, steps 905 to 908 in the embodiment shown in fig. 9, and steps 1006 to 1008 in the embodiment shown in fig. 10 may also be executed to combine into another technical solution. That is, in practical applications, there are many possible combinations, which can form a plurality of solutions, in the technical scheme of the application, the simulation equipment can control a first simulation accompanying and measuring vehicle which is positioned outside an effective detection area to enter the effective detection area, control a second simulation accompanying and measuring vehicle which is about to leave the effective detection area to be kept in the effective detection area, control a third simulation accompanying and measuring vehicle in the effective detection area to avoid obstacles, control a fourth simulation accompanying and measuring vehicle in the effective detection area to move relative to the simulation main vehicle, control the speed of a fifth simulation accompanying and measuring vehicle in the effective detection area to be within a preset speed range, and the function of controlling at least one item of the driving direction range of the sixth simulation accompanying and measuring vehicle in the effective detection area within the preset driving direction range is realized, and the function of restraining the violent driving of the seventh simulation accompanying and measuring vehicle in the effective detection area can be realized. For economy of space, the description is not provided herein. It should be noted that, in an actual application, at least one of step 306 to step 308, step 605 to 609, step 706 to step 710, step 806 to step 809, step 905 to step 908, and step 1006 to step 1008 has no necessary sequence with step 1106 to step 1108, and is selected according to the needs of the actual application, and the specific details are not limited herein.

Furthermore, the simulation equipment can also determine whether the seventh simulation accompanying vehicle is in a situation of violent driving by comparing whether the direction change rate of the seventh simulation accompanying vehicle in the at least one simulation accompanying vehicle is larger than or equal to the preset direction change rate, and timely change the violent driving state of the seventh simulation accompanying vehicle, so that the safety and the comprehensiveness of the technical scheme are improved.

Please refer to fig. 12, wherein fig. 12 is a schematic structural diagram of the simulation apparatus according to the embodiment of the present application. The simulation apparatus 1200 includes:

the obtaining unit 1201 is used for obtaining detection capability information and motion information of the simulated main vehicle, motion information of at least one simulated accompanying vehicle and information of a simulated environment where the simulated main vehicle and the at least one simulated accompanying vehicle are located.

The determining unit 1202 is configured to determine an effective detection area of the simulated main vehicle according to the detection capability information and the motion information of the simulated main vehicle and the information of the simulated environment, wherein the simulated passenger vehicle in the effective detection area can be detected by the simulated main vehicle.

The processing unit 1203 is configured to control the at least one simulated vehicle to move in the effective detection area according to the movement information of the simulated main vehicle, the respective movement information of the at least one simulated vehicle and the effective detection area.

In some optional embodiments, the processing unit 1203 is specifically configured to control a first simulated test vehicle of the at least one simulated test vehicle to enter the effective detection area if it is determined that the first simulated test vehicle is not located within the effective detection area.

In some optional embodiments, the processing unit 1203 is specifically configured to:

and determining a first position of a second simulated test vehicle in the at least one simulated test vehicle at the current moment, and predicting a first time length for the second simulated test vehicle to move from the first position to the outside of the effective detection area. And under the condition that the first time length is less than or equal to one detection period, controlling the second simulation test vehicle to be kept in the effective detection area in one detection period.

In some optional embodiments, the determining unit 1202 is further configured to:

and determining a second position of a third simulated test vehicle in the at least one simulated test vehicle at the current moment.

The processing unit 1203 is further configured to predict a second duration of the third simulated escort vehicle moving from the second position to a third position where the obstacle is located. And controlling the second simulation accompanying and measuring vehicle to avoid the barrier under the condition that the second duration is less than or equal to one detection period.

In some optional embodiments, the determining unit 1202 is further configured to determine a third duration that a fourth simulated vehicle of the at least one simulated vehicle remains relatively stationary with the simulated host vehicle.

The processing unit 1203 is further configured to control the fourth simulated escort vehicle to move relative to the simulated main vehicle when the third duration is greater than or equal to the preset duration.

In some optional embodiments, the determining unit 1202 is further configured to determine a speed of a fifth simulated test car of the at least one simulated test car.

The processing unit 1203 is further configured to control the speed of the fifth simulated test vehicle to be within the preset speed range under the condition that the speed of the fifth simulated test vehicle is not within the preset speed range.

In some optional embodiments, the determining unit 1202 is further configured to determine a driving direction range of a sixth simulated test vehicle of the at least one simulated test vehicle.

The processing unit 1203 is further configured to control the driving direction range to return to the preset driving range when the driving direction range is different from the preset driving direction range.

In some optional embodiments, the determining unit 1202 is further configured to determine a direction change rate of a seventh simulated test car of the at least one simulated test car.

The processing unit 1203 is further configured to change a driving direction of the seventh simulated escort vehicle or reduce a speed of the seventh simulated escort vehicle to reduce the direction change rate of the seventh simulated escort vehicle when the direction change rate is greater than or equal to the preset direction change rate.

The simulation apparatus 1200 may perform the operations performed by the simulation device in the embodiments shown in fig. 3 to fig. 11, which are not described herein again.

Fig. 13 is a schematic structural diagram of a terminal device according to an embodiment of the present disclosure, where the terminal device 1300 may include one or more processors 1301 and at least one communication interface 1304. Communication interface 1304 may provide, among other things, computer programs, instructions or data to processor 1301. The processor 1301 may execute a computer program or instructions to implement the operations performed by the emulation apparatus in the embodiments shown in fig. 3 to 11. In practical applications, the processor 1301 may be a Central Processing Unit (CPU), a microprocessor unit (MPU), an image processor, or other processors, such as an embedded processor, a single-core processor, or a multi-core processor, and may be selected according to requirements of practical applications, which is not limited herein. The communication interface 1304 may be an input/output interface, a pin or a circuit, etc., and is not limited herein.

In some optional embodiments, terminal device 1300 may also include at least one memory 1305. The memory 1305 is used to store computer programs, instructions or data. The program stored in the memory 1305 may include one or more modules, each of which may be used to perform a series of operations performed by the terminal device 1300. Further, the processor 1301 may be arranged in communication with the memory 1305 to carry out a series of instruction operations in the memory 1305 on the terminal device 1300. Memory 1305 may be volatile or persistent storage, among others. The memory 1305 may be a storage unit inside the emulation device, such as a register, a cache, etc., or a storage unit (e.g., a read-only memory, a random access memory, etc.) of the emulation device.

Terminal apparatus 1300 can also include one or more power supplies 1302, one or more wired or wireless network interfaces 1303, one or more communication interfaces 1304, and/or one or more operating systems.

It should be noted that the device shown in fig. 13 may also represent a computer device, or other simulation apparatuses such as a server and the like that can execute the operations executed by the simulation device in the embodiments shown in fig. 3 to fig. 11, and is not limited herein.

The processor 1301 may perform the operations performed by the simulation apparatus in the embodiments shown in fig. 3 to fig. 11, which are not described herein again.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of 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 achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application 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 integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing 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 according to the embodiments of the present application. And the aforementioned storage medium includes: 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.

Claims

1. A method of simulation, the method comprising:

acquiring detection capability information and motion information of a simulated main vehicle, motion information of at least one simulated accompanying vehicle and information of simulated environments of the simulated main vehicle and the simulated accompanying vehicle;

determining an effective detection area of the simulated main vehicle according to the detection capability information and the motion information of the simulated main vehicle and the information of the simulated environment, wherein the simulated co-observing vehicle positioned in the effective detection area can be detected by the simulated main vehicle;

controlling the at least one simulated test vehicle to move in the effective detection area according to the motion information of the simulated main vehicle, the motion information of the at least one simulated test vehicle and the effective detection area;

the control of the at least one simulated accompanying and measuring vehicle to move in the effective detection area comprises the following steps:

determining a first position of a second simulated test vehicle in the at least one simulated test vehicle at the current moment, wherein the first position is located in the effective detection area;

predicting a first time length for the second simulated test vehicle to move from the first position to the outside of the effective detection area;

And if the first time length is less than or equal to one detection period, controlling the second simulation accompanying and measuring vehicle to be kept in the effective detection area in the detection period.

2. The method of claim 1, wherein said controlling said at least one simulated test vehicle to move within said active detection area comprises:

and if it is determined that a first simulated accompanying vehicle in the at least one simulated accompanying vehicle is not located in the effective detection area, controlling the first simulated accompanying vehicle to enter the effective detection area.

3. The method according to claim 1 or 2, characterized in that the method further comprises:

determining a second position of a third simulated accompanying vehicle in the at least one simulated accompanying vehicle at the current moment, wherein the second position is located in the effective detection area;

predicting a second time length of the third simulated accompanying and measuring vehicle moving from the second position to a third position where the obstacle is located;

and if the second duration is less than or equal to one detection period, controlling the third simulation accompanying and measuring vehicle to avoid the obstacle.

4. The method according to claim 1 or 2, characterized in that the method further comprises:

Determining a third time length for a fourth simulated test vehicle in the at least one simulated test vehicle to keep relatively static with the simulated main vehicle, wherein the fourth simulated test vehicle is positioned in the effective detection area;

and if the third time length is greater than or equal to the preset time length, controlling the fourth simulated accompany vehicle to move relative to the simulated main vehicle.

5. The method according to claim 1 or 2, characterized in that the method further comprises:

determining the speed of a fifth simulation accompanying and measuring vehicle in the at least one simulation accompanying and measuring vehicle, wherein the fifth simulation accompanying and measuring vehicle is positioned in the effective detection area;

and if the speed of the fifth simulation accompanying and measuring vehicle is not in the preset speed range, controlling the speed of the fifth simulation accompanying and measuring vehicle to be in the preset speed range.

6. The method according to claim 1 or 2, characterized in that the method further comprises:

determining the driving direction range of a sixth simulation accompanying and measuring vehicle in the at least one simulation accompanying and measuring vehicle, wherein the sixth simulation accompanying and measuring vehicle is positioned in the effective detection area;

and if the driving direction range is different from the preset driving direction range, controlling the driving direction range to return to the preset driving direction range.

7. The method according to claim 1 or 2, characterized in that the method further comprises:

determining the direction change rate of a seventh simulated test vehicle in the at least one simulated test vehicle, wherein the seventh simulated test vehicle is positioned in the effective detection area;

and if the direction change rate is larger than or equal to the preset direction change rate, changing the driving direction of the seventh simulation accompanying vehicle or reducing the speed of the seventh simulation accompanying vehicle so as to reduce the direction change rate of the seventh simulation accompanying vehicle.

8. An emulation apparatus, comprising:

the system comprises an acquisition unit, a simulation main vehicle and at least one simulation accompanying vehicle, wherein the acquisition unit is used for acquiring detection capability information and motion information of the simulation main vehicle, motion information of at least one simulation accompanying vehicle and information of a simulation environment where the simulation main vehicle and the at least one simulation accompanying vehicle are located;

the determination unit is used for determining an effective detection area of the simulated main vehicle according to the detection capability information and the motion information of the simulated main vehicle and the information of the simulated environment, and the simulated accompanying vehicle in the effective detection area can be detected by the simulated main vehicle;

the processing unit is used for controlling the at least one simulated test vehicle to move in the effective detection area according to the movement information of the simulated main vehicle, the movement information of the at least one simulated test vehicle and the effective detection area;

The processing unit is specifically configured to:

determining a first position of a second simulated accompanying vehicle in the at least one simulated accompanying vehicle at the current moment, wherein the first position is located in the effective detection area;

predicting a first time length for the second simulated test vehicle to move from the first position to outside the effective detection area;

9. The apparatus of claim 8, wherein the processing unit is configured to:

10. The apparatus according to claim 8 or 9, wherein the determining unit is further configured to determine a second position of a third simulated test vehicle of the at least one simulated test vehicle at the current time, where the second position is located in the effective detection area;

the processing unit is further configured to:

11. The apparatus according to claim 8 or 9, wherein the determining unit is further configured to:

determining a third time length that a fourth simulated accompanying vehicle in the at least one simulated accompanying vehicle and the simulated main vehicle are kept relatively static, wherein the fourth simulated accompanying vehicle is located in the effective detection area;

and the processing unit is further used for controlling the fourth simulated accompanying vehicle to move relative to the simulated main vehicle if the third duration is greater than or equal to a preset duration.

12. The apparatus according to claim 8 or 9, wherein the determining unit is further configured to:

the processing unit is further configured to control the speed of the fifth simulated accompanying vehicle to be within a preset speed range if the speed of the fifth simulated accompanying vehicle is not within the preset speed range.

13. The apparatus according to claim 8 or 9, wherein the determining unit is further configured to:

Determining the driving direction range of a sixth simulation accompanying and testing vehicle in the at least one simulation accompanying and testing vehicle, wherein the sixth simulation accompanying and testing vehicle is located in the effective detection area;

the processing unit is further configured to control the driving direction range to return to the preset driving direction range if the driving direction range is different from the preset driving direction range.

14. The apparatus according to claim 8 or 9, wherein the determining unit is further configured to: determining the direction change rate of a seventh simulated accompanying vehicle in the at least one simulated accompanying vehicle, wherein the seventh simulated accompanying vehicle is positioned in the effective detection area;

the processing unit is further configured to change the traveling direction of the seventh simulated accompanying vehicle or reduce the speed of the seventh simulated accompanying vehicle if the direction change rate is greater than or equal to a preset direction change rate, so as to reduce the direction change rate of the seventh simulated accompanying vehicle.

15. An emulation apparatus comprising at least one processor and an interface:

the interface is used for providing program instructions or data for the at least one processor;

the at least one processor is configured to execute the program instructions to implement the method of any of claims 1 to 7.

16. A terminal device, characterized in that it comprises an emulation apparatus according to claim 15.

17. A chip comprising at least one processor and an interface;

18. A computer-readable storage medium, characterized in that a program is stored in the computer-readable storage medium, which, when executed by the computer, performs the method of any one of claims 1 to 7.