CN113715817A

CN113715817A - Vehicle control method, vehicle control device, computer equipment and storage medium

Info

Publication number: CN113715817A
Application number: CN202111289250.8A
Authority: CN
Inventors: 杜海宁
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2021-11-30
Anticipated expiration: 2041-11-02
Also published as: CN113715817B

Abstract

The embodiment of the application discloses a vehicle control method and device, computer equipment and a storage medium, and belongs to the technical field of computers. The method comprises the following steps: determining a first error parameter corresponding to a first vehicle in the virtual scene based on the environmental parameter of the virtual scene; adjusting the running information of at least one second vehicle according to the first error parameter, wherein the second vehicle is a vehicle of which the distance between the current vehicle and the first vehicle is smaller than a distance threshold value; and controlling the first vehicle to run in the virtual scene based on the at least one second vehicle adjusted running information. The method provided by the embodiment of the application can be applied to the traffic field, the driving of the first vehicle is controlled based on the driving information adjusted by the second vehicle, the influence of surrounding vehicles is considered, the interference caused by environmental factors to a driver is also considered, the control of the first vehicle is more in line with the real situation, and the accuracy is improved.

Description

Vehicle control method, vehicle control device, computer equipment and storage medium

Technical Field

The embodiment of the application relates to the technical field of computers, in particular to a vehicle control method, a vehicle control device, computer equipment and a storage medium.

Background

With the wider application of the artificial intelligence technology, the development of the automatic driving technology in the traffic field is faster and faster, and in order to improve the performance of the automatic driving technology, the traffic scene of vehicle driving can be simulated in advance. However, in the related art, only an idealized traffic scene is simulated, so that a real traffic scene cannot be simulated, and the simulation accuracy is poor.

Disclosure of Invention

The embodiment of the application provides a vehicle control method, a vehicle control device, computer equipment and a medium, which improve the accuracy of vehicle control in traffic simulation.

In one aspect, a vehicle control method is provided, the method including:

determining a first error parameter corresponding to a first vehicle in a virtual scene based on an environment parameter of the virtual scene, wherein the first error parameter is used for simulating a judgment error of a driver of the first vehicle on the running condition of a surrounding vehicle under the influence of the environment of the virtual scene;

adjusting the running information of at least one second vehicle according to the first error parameter, wherein the second vehicle is a vehicle of which the distance between the current vehicle and the first vehicle is smaller than a distance threshold value;

and controlling the first vehicle to run in the virtual scene based on the adjusted running information of at least one second vehicle.

In another aspect, there is provided a vehicle control apparatus, the apparatus including:

the device comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining a first error parameter corresponding to a first vehicle in a virtual scene based on an environment parameter of the virtual scene, and the first error parameter is used for simulating a judgment error of a driver of the first vehicle on the running condition of a surrounding vehicle under the influence of the environment of the virtual scene;

the first adjusting module is used for adjusting the running information of at least one second vehicle according to the first error parameter, wherein the second vehicle is a vehicle of which the distance between the current vehicle and the first vehicle is smaller than a distance threshold value;

and the control module is used for controlling the first vehicle to run in the virtual scene based on the running information adjusted by the at least one second vehicle.

Optionally, the first determining module includes:

the first determining unit is used for determining a first error parameter corresponding to the first vehicle based on the environment parameter and a characteristic parameter corresponding to the first vehicle, wherein the characteristic parameter comprises at least one of an aggressive parameter or a vehicle characteristic, and the aggressive parameter represents the driving aggressive degree of a driver of the first vehicle.

Optionally, the control module includes:

a second determination unit configured to determine a first speed of the first vehicle, which refers to a travel speed used by a driver of the first vehicle under the influence of a travel situation of the second vehicle, based on at least one of the second vehicle-adjusted travel information;

a first adjusting unit, configured to adjust the first speed according to a speed adjustment parameter corresponding to the first vehicle, so as to obtain a second speed, where the speed adjustment parameter is used to simulate a degree of influence of an environment of the virtual scene on the speed of the first vehicle;

and the control unit is used for controlling the first vehicle to run in the virtual scene according to the second speed.

Optionally, the second determining unit is configured to:

determining a first acceleration of the first vehicle, which refers to an acceleration used by a driver of the first vehicle under the influence of a driving situation of the second vehicle, based on at least one of the second vehicle's adjusted driving information;

adjusting the first acceleration according to an acceleration adjusting parameter corresponding to the first vehicle to obtain a second acceleration, wherein the acceleration adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the acceleration of the first vehicle;

determining the first speed according to the current speed and the second acceleration of the first vehicle.

Optionally, the apparatus further comprises:

the second determining module is used for determining a performance adjusting parameter corresponding to the first vehicle based on the environment parameter, wherein the performance adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the performance of the first vehicle;

a first obtaining module for obtaining a performance parameter of the first vehicle, the performance parameter being indicative of a performance of the first vehicle;

and the second adjusting module is used for adjusting the performance parameters based on the performance adjusting parameters to obtain the adjusted performance parameters.

Optionally, the performance parameter comprises a maximum performance parameter achievable by the first vehicle during travel, and the control module is further configured to control the performance parameter of the first vehicle during travel not to exceed the maximum performance parameter.

Optionally, the performance parameter and the performance adjustment parameter satisfy at least one of:

the performance parameter comprises a maximum driving speed, the performance adjusting parameter comprises a first adjusting parameter, and the first adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the maximum driving speed of the first vehicle;

the performance parameters comprise maximum acceleration, the performance adjustment parameters comprise second adjustment parameters, and the second adjustment parameters are used for simulating the influence degree of the environment of the virtual scene on the maximum acceleration of the first vehicle;

the performance parameter comprises the distance threshold value, the distance threshold value represents the maximum visual field distance of a driver of the first vehicle, and the performance adjustment parameter comprises a third adjustment parameter, wherein the third adjustment parameter is used for simulating the influence degree of the environment of the virtual scene on the distance threshold value corresponding to the first vehicle;

the performance parameter comprises a minimum safety distance, the performance adjusting parameter comprises a fourth adjusting parameter, and the fourth adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the minimum safety distance corresponding to the first vehicle.

Optionally, the apparatus further comprises:

the third determining module is used for determining a first lane where the first vehicle is located under the condition that the first vehicle does not change lanes;

and the fourth determination module is used for determining the vehicle which is positioned in front of the first vehicle in the first lane and has a distance with the first vehicle not greater than the distance threshold value as the second vehicle.

Optionally, the control module includes:

a second determination unit configured to determine a longitudinal travel speed of the first vehicle based on the at least one second vehicle adjusted travel information;

and the control unit is used for controlling the first vehicle to run in the first lane according to the longitudinal running speed.

Optionally, the apparatus further comprises:

a fifth determination module, configured to determine, as the second vehicle, a vehicle in the first lane that is located ahead of the first vehicle and whose distance from the first vehicle is not greater than the distance threshold when the first vehicle moves from the first lane to the second lane;

the fifth determining module is further configured to determine a vehicle in the second lane, which is not greater than the distance threshold from the first vehicle, as the second vehicle.

Optionally, the control module includes:

a second determination unit, further configured to determine a longitudinal travel speed of the first vehicle based on the adjusted travel information of a second vehicle located in the first lane;

the second determination unit is further used for determining the transverse running speed of the first vehicle based on the adjusted running information of the second vehicle positioned in the second lane;

the control unit is further used for controlling the first vehicle to move from the first lane to the second lane according to the longitudinal running speed and the transverse running speed.

Optionally, the first adjusting module includes:

and the second adjusting unit is used for adjusting the running information of at least one second vehicle at intervals of a first time according to the first error parameter.

Optionally, the apparatus further comprises:

a speed setting module for setting the speed of the first vehicle and the speed of the second vehicle to 0 if there is an overlap between the position of the first vehicle and the position of any of the second vehicles.

Optionally, the apparatus further comprises:

a removal module to remove the first vehicle and the second vehicle from the virtual scene if a duration in which the speed of the first vehicle and the speed of the second vehicle are set to 0 reaches a second duration.

Optionally, the apparatus further comprises:

the second acquisition module is used for acquiring a first distance between a stop line corresponding to a signal lamp and the first vehicle when the situation that the signal lamp in front of the first vehicle indicates to stop running is detected;

a third adjusting module, configured to adjust the first distance according to a second error parameter corresponding to the first vehicle to obtain a second distance, where the second error parameter is used to simulate a judgment error of a driver of the first vehicle on a distance between the stop line and the first vehicle under the influence of an environment of the virtual scene;

the control module is further configured to control the first vehicle to travel in the virtual scene based on the second distance.

In another aspect, a computer device is provided, the computer device comprising a processor and a memory, the memory having stored therein at least one computer program, the at least one computer program being loaded and executed by the processor to implement the vehicle control method according to the above aspect.

In another aspect, there is provided a computer-readable storage medium having at least one computer program stored therein, the at least one computer program being loaded and executed by a processor to implement the vehicle control method according to the above aspect.

In another aspect, a computer program product is provided, comprising a computer program that is loaded and executed by a processor to implement the vehicle control method according to the above aspect.

The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:

according to the scheme provided by the embodiment of the application, the running information of the second vehicle is adjusted based on the environmental parameters of the virtual scene and the running condition of the surrounding second vehicle, so that the adjusted running information can represent the running condition of the second vehicle which is mistakenly considered by a driver under the condition of being influenced by the environment, and the running of the first vehicle is controlled based on the adjusted running information of the second vehicle, so that the influence of the surrounding vehicle is considered, the interference caused by environmental factors to the driver is also considered, the control of the first vehicle is more consistent with the real condition, and the accuracy is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic illustration of an implementation environment provided by an embodiment of the present application;

FIG. 2 is a flow chart of a vehicle control method provided by an embodiment of the present application;

FIG. 3 is a flow chart of another vehicle control method provided by an embodiment of the present application;

FIG. 4 is a schematic diagram of a distance between a first vehicle and a second vehicle according to an embodiment of the present disclosure;

FIG. 5 is a flow chart of yet another method of controlling a vehicle provided by an embodiment of the present application;

FIG. 6 is a schematic illustration of a speed of a first vehicle provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of a collision between two vehicles according to an embodiment of the present disclosure;

FIG. 8 is a schematic diagram of another two-vehicle collision provided by the embodiment of the present application;

FIG. 9 is a flow chart of yet another method of controlling a vehicle provided in an embodiment of the present application;

fig. 10 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of another vehicle control device provided in the embodiment of the present application;

fig. 12 is a schematic structural diagram of a terminal according to an embodiment of the present application;

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

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present application more clear, the embodiments of the present application will be further described in detail with reference to the accompanying drawings.

It will be understood that the terms "first," "second," and the like as used herein may be used herein to describe various concepts, which are not limited by these terms unless otherwise specified. These terms are only used to distinguish one concept from another. For example, a first vehicle may be referred to as a second vehicle and a second vehicle may be referred to as a first vehicle without departing from the scope of the present application.

As used herein, the terms "at least one," "a plurality," "each," "any," and the like, at least one comprises one, two, or more than two, and a plurality comprises two or more than two, each referring to each of the corresponding plurality, and any referring to any one of the plurality. For example, the running information of the plurality of second vehicles includes running information of 3 second vehicles, and the running information of each second vehicle refers to the running information of each of the 3 second vehicles, and any one of the running information of the 3 second vehicles may be the first one, the second one, or the third one.

Artificial Intelligence (AI) is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human Intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.

The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning, automatic driving, intelligent traffic and the like.

Computer Vision technology (CV) Computer Vision is a science for researching how to make a machine "see", and further refers to that a camera and a Computer are used to replace human eyes to perform machine Vision such as identification, tracking and measurement on a target, and further image processing is performed, so that the Computer processing becomes an image more suitable for human eyes to observe or transmitted to an instrument to detect. As a scientific discipline, computer vision research-related theories and techniques attempt to build artificial intelligence systems that can capture information from images or multidimensional data. Computer vision technologies generally include image processing, image Recognition, image semantic understanding, image retrieval, OCR (Optical Character Recognition), video processing, video semantic understanding, video content/behavior Recognition, three-dimensional object reconstruction, 3D (3 Dimensions, three-dimensional) technologies, virtual reality, augmented reality, synchronous positioning and map construction, automatic driving, smart transportation, and other technologies, and also include common biometric technologies such as face Recognition and fingerprint Recognition.

The automatic driving technology generally comprises technologies such as high-precision maps, environment perception, behavior decision, path planning, motion control and the like, and the self-determined driving technology has wide application prospects.

With the research and progress of artificial intelligence technology, the artificial intelligence technology is developed and researched in a plurality of fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, unmanned aerial vehicles, robots, smart medical services, smart customer service, internet of vehicles, automatic driving, smart traffic and the like.

The scheme provided by the embodiment of the application relates to an artificial intelligence automatic driving technology, and is specifically explained by the following embodiment.

First, in order to facilitate understanding of the embodiments of the present application, keywords related to the embodiments of the present application are explained.

(1) Microscopic traffic simulation: the traffic simulation refers to the research of traffic behaviors by adopting a simulation technology, and is a technology for tracking and describing the change of traffic motion along with time and space, the microscopic traffic simulation is one of the traffic simulations, the description of the traffic flow takes a single vehicle as a basic unit, and the microscopic behaviors of the vehicle such as car following, overtaking, lane change and the like on a road can be truly reflected.

The simulation technology is a simulation model technology which reflects system behaviors or processes by applying simulation hardware and simulation software through simulation experiments and by means of some numerical calculation and problem solving. Road traffic simulation is an important tool for researching complex traffic problems, and particularly, when a system is too complex to be described by a simple abstract mathematical model, the traffic simulation is more prominent.

(2) Radical parameters: since the driving behaviors of the drivers are different due to differences in reaction time, road condition familiarity degree, psychological factors and the like of the drivers, different aggressive parameters can be set for each simulated vehicle before microscopic traffic simulation is carried out, and the aggressive parameters are used for representing the aggressive degree of the drivers of the vehicles, so that the driving behaviors of the drivers tend to be aggressive or conservative. The higher the aggressiveness parameter of the vehicle, the more aggressive the vehicle, and the lower the aggressiveness parameter of the vehicle, the more conservative the vehicle.

For example, if the vehicle a and the vehicle B want to change lanes, the vehicle a changes lanes earlier than the vehicle B and the lane change speed of the vehicle a is faster. Suppose that each vehicle is given a floating point number between (0, 1) as an aggressive parameter before the start of the simulation, representing the degree of aggressiveness of the driver of that vehicle, 0 representing the most conservative type and 1 representing the most aggressive type. The driving of the vehicle can be controlled based on the aggressive parameters of the vehicle in the subsequent simulation process so as to simulate the effect that a driver conforming to the aggressive parameters is driving the vehicle.

(3) An Intelligent Transportation System (ITS), also called Intelligent Transportation System (Intelligent Transportation System), is a comprehensive Transportation System which effectively and comprehensively applies advanced scientific technologies (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operational research, artificial intelligence and the like) to Transportation, service control and vehicle manufacturing, strengthens the relation among vehicles, roads and users, and thus forms a safety-guaranteeing, efficiency-improving, environment-improving and energy-saving comprehensive Transportation System.

(4) An Intelligent Vehicle Infrastructure Cooperative Systems (IVICS), referred to as a Vehicle-road Cooperative system for short, is a development direction of an Intelligent traffic system (IT). The vehicle-road cooperative system adopts the advanced wireless communication, new generation internet and other technologies, implements vehicle-vehicle and vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time dynamic traffic information acquisition and fusion, fully realizes effective cooperation of human and vehicle roads, ensures traffic safety, improves traffic efficiency, and thus forms a safe, efficient and environment-friendly road traffic system.

Fig. 1 is a schematic diagram of an implementation environment provided by an embodiment of the present application. Referring to fig. 1, the implementation environment includes a terminal 101 and a server 102. The terminal 101 and the server 102 are connected via a wireless or wired network.

The server 102 is a server for performing traffic simulation, and a virtual scene is created in the terminal 101, in which a plurality of vehicles and other traffic elements, such as signal lamps, roads, buildings, and the like, are disposed. In the process of performing traffic simulation, the terminal 101 interacts with the server 102, so as to control the vehicles in the virtual scene.

Alternatively, the terminal 101 has installed thereon a traffic simulation application served by the server 102, which has a function of controlling a vehicle, a function of displaying a virtual scene, a function of storing virtual scene data, and the like.

Optionally, the terminal 101 is a computer, a mobile phone, a tablet computer, or other terminal. The server 102 is an independent physical server, or a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a web service, cloud communication, middleware service, a domain name service, a security service, a CDN (Content Delivery Network), and a big data and artificial intelligence platform.

The method provided by the embodiment of the application can be applied to a scene of simulating the vehicle affected by severe weather. By adopting the method provided by the embodiment of the application, the running information of the surrounding vehicles is adjusted based on the environmental parameters of the virtual scene and the running conditions of the surrounding vehicles, so that the adjusted running information can represent the running conditions of the surrounding vehicles which are mistakenly considered by a driver under the condition of being influenced by the environment, and the running of the target vehicle is controlled based on the adjusted running information, therefore, the influence of the surrounding vehicles is considered, the interference caused by environmental factors to the driver is also considered, the control of the vehicle is more consistent with the real condition, and the accuracy is improved.

During the driving of the vehicle, the driver perceives the road traffic information mainly by vision, and drives accordingly. One of the factors that influence the driver's driving of the vehicle is the driving condition of the surrounding vehicle, such as the speed of the surrounding vehicle, the distance between the vehicle and the surrounding vehicle, and the like. Considering that bad weather such as heavy fog, strong wind, snowing and the like can cause visibility to be reduced, the ability of a driver to perceive, judge and receive information is weakened, and the ability of the driver to perceive the running condition of surrounding vehicles is reduced, which can affect the driving behavior of the driver.

Therefore, the following embodiments provide a vehicle control method capable of taking into account the influence of environmental factors on a driver when performing traffic simulation. Fig. 2 is a flowchart of a vehicle control method provided in an embodiment of the present application, where an execution subject of the embodiment of the present application is a computer device. Referring to fig. 2, the method includes the following steps.

201. The computer device determines a first error parameter corresponding to a first vehicle in a virtual scene based on an environmental parameter of the virtual scene.

The computer device creates a virtual scene, which is used for traffic simulation, so that the virtual scene includes various traffic elements, such as vehicles, roads, lanes in the roads, roadside buildings, road indicator lights, and environmental elements, such as sky, sun in the sky, clouds, rain, snow, wind, and the like.

The embodiment of the application takes the first vehicle as an example, the first vehicle is any virtual vehicle in a virtual scene, and a driver of the first vehicle is influenced by environmental factors and can make misjudgment on the running condition of the surrounding vehicle, so that certain errors exist in the determined running condition of the surrounding vehicle. Accordingly, the computer device can determine a corresponding first error parameter for the first vehicle based on the environmental parameter.

The environment parameter of the virtual scene is used for representing the current environment condition of the virtual scene, and the first error parameter is used for simulating the judgment error of the driving condition of the surrounding vehicle by the driver of the first vehicle under the influence of the environment of the virtual scene.

202. The computer device adjusts the driving information of the at least one second vehicle according to the first error parameter.

The second vehicle is a vehicle whose distance from the first vehicle is smaller than a distance threshold, and may be regarded as a vehicle around the first vehicle, and the travel information of the second vehicle is used to indicate a travel condition of the second vehicle, and may include a position of the second vehicle, a speed of the second vehicle, a distance between the second vehicle and the first vehicle, a lane where the second vehicle is located, a direction in which a head of the second vehicle points, and the like.

The driving condition of the second vehicle affects the first vehicle, and in order to simulate the influence of the driving condition of the second vehicle in traffic simulation, the driving information of the second vehicle needs to be adjusted according to the first error parameter, so that the adjusted driving information is the driving information after being affected by the environment of the virtual scene, and can represent the driving condition of the surrounding vehicle which is mistaken by the driver under the influence of the environment, and the driving condition of the first vehicle after being affected by the environment and the surrounding vehicle can be simulated by controlling the driving of the first vehicle based on the adjusted driving information of the second vehicle.

In one possible implementation, the computer device determines a circular area with the current position of the first vehicle as the center and the distance threshold as the radius, and determines the vehicles in the circular area as the second vehicle. Or otherwise determine the second vehicle. The number of the second vehicles may be one or more, and at different times, the positions of the respective vehicles of the virtual scene may change, resulting in different second vehicles being determined at different times.

Alternatively, the distance threshold may be arbitrarily set by the computer device, or the driver of the first vehicle may only perceive other vehicles within a certain distance while driving the first vehicle, and thus the distance threshold may be determined according to the maximum viewing distance of the driver of the first vehicle, so that the second vehicle determined based on the distance threshold may simulate a vehicle within the line of sight of the driver of the first vehicle, and the other vehicles may simulate vehicles outside the line of sight of the driver of the first vehicle.

203. The computer device controls the first vehicle to travel in the virtual scene based on the at least one second vehicle adjusted travel information.

In one possible implementation, the computer device determines target travel information of the first vehicle based on the adjusted travel information of the at least one second vehicle, so as to control the first vehicle to travel in the virtual scene based on the target travel information. The target running information includes a speed, an acceleration, a position and the like of the first vehicle, and may further include a distance between the first vehicle and a second vehicle, a running lane of the first vehicle, a direction in which a head of the first vehicle points, a running direction of the first vehicle and the like.

According to the method provided by the embodiment of the application, the running information of the second vehicle is adjusted based on the environmental parameters of the virtual scene and the running condition of the surrounding second vehicle, so that the adjusted running information can represent the running condition of the second vehicle which is mistakenly considered by a driver under the condition of being influenced by the environment, and the running of the first vehicle is controlled based on the adjusted running information of the second vehicle, so that the influence of the surrounding vehicle is considered, the interference caused by environmental factors to the driver is also considered, the control of the first vehicle is more consistent with the real condition, and the accuracy is improved.

When the driving condition of the vehicle is simulated, the vehicle needs to be controlled, the speed of the vehicle is an important index, and the control of the speed of the vehicle is important. Since the speed of the vehicle is affected by the surrounding vehicles and the surrounding vehicles to be considered are different in the case of lane change and in the case of no lane change. The following embodiments will therefore take the control of the first vehicle as an example, and first describe a process in which the first vehicle controls the speed of the first vehicle without changing lanes.

FIG. 3 is a flow chart of another vehicle control method provided by the embodiments of the present application. The execution subject of the embodiment of the application is computer equipment. Referring to fig. 3, the method includes the following steps.

301. The computer device determines a first error parameter corresponding to a first vehicle in a virtual scene based on an environmental parameter of the virtual scene.

In one possible implementation manner, the computer device determines a first error parameter corresponding to the first vehicle based on the environmental parameter and the characteristic parameter corresponding to the first vehicle. Wherein the characteristic parameter comprises at least one of an aggressive parameter or a vehicle characteristic.

When the driver of the first vehicle determines the driving condition of the surrounding vehicle, the driver of the first vehicle is not only influenced by the environmental parameters in the virtual environment, but also may be restricted by the characteristic parameters corresponding to the first vehicle, so that the driving condition of the surrounding vehicle determined by the driver of the first vehicle has a certain error. Therefore, the computer device determines a first error parameter corresponding to the first vehicle based on the environmental parameter and the characteristic parameter corresponding to the first vehicle.

The driving incentive parameter represents the driving incentive degree of a driver of the first vehicle, and different driving incentive degrees of different drivers are different, so that errors generated when the driver judges the driving conditions of surrounding vehicles are different, therefore, the computer equipment determines the first error parameter corresponding to the first vehicle according to the driving incentive parameter corresponding to the first vehicle, and the influence of the driving incentive degree of the driver on the first error parameter can be considered.

The vehicle characteristics corresponding to the first vehicle may indicate a vehicle type, a size, a mass, a performance of a communication device in the first vehicle, and the like of the first vehicle, and when a driver drives a vehicle having different vehicle characteristics, an error generated when determining a driving condition of a surrounding vehicle is different. Therefore, the computer device determines a first error parameter corresponding to the first vehicle according to the vehicle characteristic corresponding to the first vehicle, and the influence of the vehicle characteristic on the first error parameter can be considered.

In another possible implementation manner, in the process of performing one-time traffic simulation, the virtual scene includes a plurality of vehicles, each vehicle has a corresponding first error parameter, and the first error parameter is used for simulating a judgment error of a driver of the corresponding vehicle on the driving condition of the surrounding vehicle under the influence of the environment of the virtual scene. Wherein the first error parameters corresponding to the plurality of vehicles obey a target distribution, for example, the target distribution is a normal distribution.

Optionally, the first error parameter includes a speed error parameter and a distance error parameter, wherein the speed error parameter is used for simulating a judgment error of a driving speed of the surrounding vehicle by a driver of the corresponding vehicle under the influence of the environment of the virtual scene, and the distance error parameter is used for simulating a judgment error of a distance between the first vehicle and the surrounding vehicle by the driver of the corresponding vehicle under the influence of the environment of the virtual scene. The speed error parameters corresponding to the plurality of vehicles in the virtual scene obey the target distribution, and the distance error parameters corresponding to the plurality of vehicles also obey the target distribution.

For example, speed error parameters corresponding to multiple vehicles in a virtual scene

Obey normal distribution

. Wherein the content of the first and second substances,

representing a normal distribution, also called gaussian distribution,

the parameters of the position are represented by,

representing a scale parameter, a speed error parameter

Obeying a position parameter of

The scale parameter is

Probability distribution of (2).

For example, distance error parameters corresponding to multiple vehicles in a virtual scene

Compliance

. Wherein the content of the first and second substances,

representing a normal distribution, also called gaussian distribution,

the parameters of the position are represented by,

representing a scale parameter, a distance error parameter

Obeying a position parameter of

The scale parameter is

Probability distribution of (2).

302. The computer device determines a first lane in which a first vehicle is located without changing lanes for the first vehicle.

The road in the virtual scene comprises a plurality of lanes, and when traffic simulation is carried out in the virtual scene, vehicles in the virtual scene can run on any lane. And, the vehicle can switch to another lane to run at any time during the running along a certain lane.

In order to better simulate the actual driving situation of the vehicle, the vehicle can move from one lane to another lane during the driving process of the vehicle, namely lane changing is carried out, and the vehicle can also continue to drive in the current lane, namely not to carry out lane changing. In the case where the first vehicle does not change lanes, the vehicle only needs to travel forward, and only needs to consider the current lane, not the other lanes, so the computer device determines the first lane in which the first vehicle is currently located.

303. The computer device determines a vehicle in the first lane that is ahead of the first vehicle and whose distance from the first vehicle is not greater than a distance threshold as the second vehicle.

In the case where the first vehicle does not change lanes, only the first lane is driven forward, and only other vehicles in front of the first vehicle in the first lane need to be considered, but since the maximum viewing distance of the driver of the first vehicle is limited, it is considered that the driver of the first vehicle can only perceive the vehicle in front of the first vehicle in the first lane, which is not more than the distance threshold. The computer device thus determines a vehicle in the first lane, which is located ahead of the first vehicle and whose distance from the first vehicle is not greater than the distance threshold value, as the second vehicle, and subsequently controls travel of the first vehicle based on the travel information of the second vehicle.

It should be noted that there may be one or more vehicles in the first lane that are located in front of the first vehicle and that are not farther from the first vehicle than the distance threshold, and thus the computer device may determine one or more second vehicles. Optionally, the computer device determines a vehicle of the plurality of vehicles having a smallest distance to the first vehicle as the second vehicle.

304. The computer device adjusts the driving information of the at least one second vehicle according to the first error parameter.

In one possible implementation manner, the first error parameter corresponding to the first vehicle includes a speed error parameter and a distance error parameter, and the travel information of the second vehicle includes a speed of the second vehicle and a distance between the first vehicle and the second vehicle. And the computer equipment adjusts the speed of the second vehicle according to the speed error parameter to obtain the adjusted speed of the second vehicle. And the computer equipment adjusts the distance between the first vehicle and the second vehicle according to the distance error parameter to obtain the adjusted distance between the first vehicle and the second vehicle.

For example, the computer device determines the adjusted speed of the second vehicle using the following equation.

；

Wherein the content of the first and second substances,

indicating the adjusted speed of the second vehicle,

which is indicative of the actual speed of the second vehicle,

representing a speed error parameter.

For example, the computer device determines the adjusted distance between the first vehicle and the second vehicle using the following equation.

；

Wherein the content of the first and second substances,

indicating the adjusted distance between the first vehicle and the second vehicle,

representing the true distance between the first vehicle and the second vehicle,

indicating distanceAn error parameter.

Optionally, the computer device obtains the locations of the first vehicle and the second vehicle, and determines a distance between the first vehicle and the second vehicle based on the locations of the first vehicle and the second vehicle. For example, the computer device represents the position of the vehicle using the coordinates of the vehicle in the virtual scene, determines the coordinates of the first vehicle and the second vehicle, and determines the distance between the first vehicle and the second vehicle based on the coordinates of the first vehicle and the second vehicle.

Fig. 4 is a schematic diagram of a distance between a first vehicle and a second vehicle according to an embodiment of the present application, and as shown in fig. 4, there is a second vehicle 402 located in front of the first vehicle 401 and having a distance not greater than a distance threshold in the first lane, where a position of the second vehicle 402 corresponding to a solid line vehicle represents an actual position of the second vehicle 402, and a position of the second vehicle 402 corresponding to a dashed line vehicle represents a position of the second vehicle 402 after the distance error parameter is superimposed. The distance between the first vehicle 401 and the solid line vehicle is

And represents an actual distance between the first vehicle 401 and the second vehicle 402. The distance between the first vehicle 401 and the dashed vehicle is

The distance between the first vehicle 401 and the second vehicle 402 after adjustment is shown.

305. The computer device determines a longitudinal travel speed of the first vehicle based on the adjusted travel information of the at least one second vehicle, and controls the first vehicle to travel in the first lane at the longitudinal travel speed.

Under the condition that the first vehicle does not change the lane, the computer equipment only needs to consider the longitudinal running speed of the first vehicle, and at the moment, the first vehicle runs along the current road in a straight line. Since the lane change is not performed, the lateral traveling speed of the first vehicle is 0.

In one possible implementation, the second vehicle adjusted travel information includes an adjusted speed of the second vehicle and an adjusted distance between the first vehicle and the second vehicle. The computer device determines a longitudinal travel speed of the first vehicle based on the adjusted speed of the at least one second vehicle and the distance between the adjusted first vehicle and the second vehicle, thereby controlling the first vehicle to travel in the first lane at the longitudinal travel speed.

In another possible implementation, the computer device first determines a first speed of the first vehicle, which first speed is a travel speed used by a driver of the first vehicle under the influence of the travel situation of the second vehicle, on the basis of the at least one second vehicle adjusted travel information. And then, the computer equipment adjusts the first speed according to the speed adjusting parameter corresponding to the first vehicle to obtain a second speed, so that the first vehicle is controlled to run in the virtual scene according to the second speed. The speed adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the speed of the first vehicle.

Optionally, the computer device superimposes the first speed of the first vehicle with a speed adjustment parameter corresponding to the first vehicle, thereby obtaining a second speed of the first vehicle.

For example, the following equation is used to determine the second speed of the first vehicle.

；

Wherein the content of the first and second substances,

a second speed of the first vehicle is indicated,

a first speed of the first vehicle is indicated,

a corresponding speed adjustment parameter for the first vehicle is indicated.

Optionally, the computer device first determines a first acceleration of the first vehicle, which refers to an acceleration used by a driver of the first vehicle under the influence of the driving situation of the second vehicle, based on the adjusted driving information of the at least one second vehicle. And then, the computer equipment adjusts the first acceleration according to the acceleration adjusting parameter corresponding to the first vehicle to obtain a second acceleration, so that the first speed is determined according to the current speed and the second acceleration of the first vehicle. The acceleration adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the acceleration of the first vehicle.

Optionally, the first vehicle corresponds to a maximum acceleration, and the acceleration of the first vehicle during travel does not exceed the maximum acceleration. The computer device determines a first speed based on a current speed of the first vehicle and the second acceleration if the second acceleration is not greater than the maximum acceleration. In the case where the second acceleration is greater than the maximum acceleration, the first speed is determined based on the current speed of the first vehicle and the maximum acceleration.

In another possible implementation manner, the computer device adjusts the running information of at least one second vehicle according to the first error parameter every first time period, so that the longitudinal running speed of the first vehicle is determined based on the adjusted running information of the second vehicle, and the first vehicle is controlled to run in the first lane according to the longitudinal running speed.

In the process of simulating the running condition of the first vehicle, in order to better fit an actual traffic scene, the running information of the vehicles around the first vehicle needs to be periodically detected, and the running information of the second vehicle needs to be adjusted, so that the longitudinal running speed of the first vehicle is updated in real time, the running condition of the first vehicle is more real, and the process of adjusting the speed of the first vehicle in real time by a driver of the first vehicle according to the change of the surrounding vehicles is embodied.

Optionally, a simulation clock exists in the virtual scene, the computer device advances the control of the first vehicle according to the simulation clock, and the first duration is a simulation step size corresponding to the simulation clock, so that the longitudinal traveling speed of the first vehicle is periodically updated according to the simulation step size corresponding to the simulation clock.

It should be noted that, in the embodiment of the present application, only the first vehicle in the virtual scene is controlled to run as an example, and in the traffic simulation process, for each vehicle in the virtual scene, the computer device controls each vehicle to run in the virtual scene by using the methods in steps 301 to 305.

And the running information of the second vehicle is adjusted based on the environmental parameters and the characteristic parameters corresponding to the first vehicle, so that the running of the first vehicle is controlled based on the adjusted running information, thereby not only considering the interference caused by the environmental factors to the driver, but also considering the constraint of the characteristic parameters corresponding to the first vehicle to the driver, and leading the simulation of the running condition of the first vehicle to be more in line with the actual condition.

In addition, when the lane change is not performed, the driver of the first vehicle only needs to consider the traveling information of the second vehicle in the current lane, and does not need to consider the traveling information of the second vehicle in the other lane. Thus, part of the information is filtered, and the calculation amount is reduced.

And after determining the first speed of the first vehicle based on the adjusted running information of the second vehicle, adjusting the first speed according to the speed adjustment parameter corresponding to the first vehicle to obtain a second speed, so as to control the first vehicle to run in the virtual scene according to the second speed. In this way, not only the influence of the driving information of the surrounding vehicle on the speed of the first vehicle, but also the influence of the environmental parameters directly on the speed of the first vehicle are taken into account.

And the running information of the vehicles around the first vehicle is periodically adjusted, so that the speed of the first vehicle is updated, the running of the first vehicle in a virtual scene is more consistent with the actual situation, and the process that the driver of the first vehicle adjusts the speed of the first vehicle in real time according to the change of the vehicles around is embodied.

The above-described embodiment is merely an example of controlling the traveling process of the first vehicle when the first vehicle does not change lanes, and the following embodiment is an example of controlling the first vehicle and a process of controlling the speed of the first vehicle based on the surrounding vehicle on the current lane and the surrounding vehicle on the adjacent lane when the first vehicle needs to change lanes.

Fig. 5 is a flowchart of another vehicle control method provided in the embodiments of the present application. The execution subject of the embodiment of the application is computer equipment. Referring to fig. 5, the method includes the following steps.

501. The computer device determines a first error parameter corresponding to a first vehicle in a virtual scene based on an environmental parameter of the virtual scene.

The process of determining the first error parameter is the same as that in step 301, and is not described herein again.

502. The computer device determines a vehicle, which is located in front of the first vehicle and has a distance to the first vehicle not greater than a distance threshold value, in the first lane as a second vehicle if the first vehicle moves from the first lane to a second lane.

The virtual scene includes a plurality of lanes, and when traffic simulation is performed in the virtual scene, vehicles in the virtual scene can run on any lane. In the case of changing lanes, the vehicle needs to move from the current lane to another lane in the virtual scene to continue traveling.

In the case where the first vehicle moves from the first lane to the second lane, the first vehicle needs to travel in the first lane for a while, and therefore, it is necessary to consider the influence of the traveling situation of the vehicle around the first vehicle in the first lane on the traveling situation of the first vehicle.

The process of determining the second vehicle in the first lane is the same as that in step 303, and is not described herein again.

503. The computer device determines a vehicle in the second lane, for which a distance to the first vehicle is not greater than a distance threshold, as the second vehicle.

When the first vehicle moves from the first lane to the second lane, the first vehicle also moves to the second lane to continue driving. Therefore, it is necessary to consider not only the traveling situation of the vehicles around the first vehicle in the first lane but also the traveling situation of the vehicles around the first vehicle in the second lane. Due to the limited maximum viewing distance of the driver of the first vehicle, it is assumed that the driver of the first vehicle can only perceive vehicles in the second lane whose distance from the first vehicle is not greater than the distance threshold. Therefore, the computer device determines a vehicle in the second lane, for which the distance to the first vehicle is not greater than the distance threshold, as the second vehicle, and subsequently controls lateral travel of the first vehicle based on the travel information of the second vehicle.

It should be noted that there may be one or more vehicles in the second lane that are not more than the distance threshold from the first vehicle, and thus the computer device may determine one or more second vehicles. Optionally, the computer device determines, among the plurality of vehicles, a vehicle that is located in front of the first vehicle and has the smallest distance from the first vehicle as the second vehicle, and determines a vehicle that is located behind the first vehicle and has the smallest distance from the first vehicle as the second vehicle.

504. The computer device adjusts the driving information of the at least one second vehicle according to the first error parameter.

The adjustment process of the driving information of the second vehicle is the same as that in step 304, and is not described herein again.

Fig. 4 is a schematic diagram of a distance between a first vehicle and a second vehicle according to an embodiment of the present disclosure. As shown in fig. 4, a second vehicle 403 whose distance from the first vehicle 401 is not greater than the distance threshold exists in the adjacent lane, where the position of the solid line vehicle corresponding to the second vehicle 403 represents the actual position of the second vehicle 403, and the position of the dashed line vehicle corresponding to the second vehicle 403 represents the position of the second vehicle 403 after the distance error parameter is superimposed. The distance between the first vehicle 401 and the solid line vehicle may represent an actual distance between the first vehicle 401 and the second vehicle 403. The distance between the first vehicle 401 and the dashed vehicle may represent an adjusted distance between the first vehicle 401 and the second vehicle 403.

505. The computer device determines a longitudinal travel speed of the first vehicle based on the adjusted travel information of the second vehicle located in the first lane.

The process of determining the longitudinal traveling speed of the first vehicle is the same as the process of determining the longitudinal traveling speed of the first vehicle in step 305, and is not described herein again.

506. The computer device determines a lateral travel speed of the first vehicle based on the adjusted travel information of the second vehicle located in the second lane.

Before the first vehicle changes lanes, only the longitudinal running speed and the transverse running speed of the first vehicle are 0. In order to implement lane changing, a lateral travel speed needs to be added to the first vehicle, so that the first vehicle can deviate from the current first lane and move to the adjacent second lane.

In one possible implementation, the second vehicle adjusted travel information includes a second vehicle adjusted speed and an adjusted distance between the first vehicle and the second vehicle. The computer device determines a lateral travel speed of the first vehicle based on the at least one second vehicle adjusted speed and the adjusted distance between the first vehicle and the second vehicle, and subsequently controls the first vehicle to move from the first lane to the second lane at the lateral travel speed and the longitudinal travel speed determined in step 505 above.

In another possible implementation manner, the speed adjustment parameter corresponding to the first vehicle includes a lateral speed adjustment parameter, and the lateral speed adjustment parameter is used for simulating the influence degree of the environment of the virtual scene on the lateral speed of the first vehicle. The computer device first determines a lateral travel speed of the first vehicle, which is a lateral travel speed used by a driver of the first vehicle under the influence of the travel situation of the second vehicle, on the basis of the at least one second vehicle adjusted travel information. And then, the computer equipment adjusts the transverse running speed according to the transverse speed adjusting parameter to obtain the adjusted transverse running speed, and then controls the first vehicle to run in the virtual scene according to the adjusted transverse running speed.

Optionally, the computer device superimposes the lateral travel speed of the first vehicle and the lateral speed adjustment parameter corresponding to the first vehicle, so as to obtain the adjusted lateral travel speed of the first vehicle.

For example, the following formula is used to determine the adjusted lateral travel speed of the first vehicle.

；

Wherein the content of the first and second substances,

indicating the adjusted lateral travel speed of the first vehicle,

indicates the lateral running speed of the first vehicle,

a corresponding lateral speed adjustment parameter for the first vehicle is indicated.

507. The computer device controls the first vehicle to move from the first lane to the second lane at a longitudinal travel speed and a lateral travel speed.

When the vehicle changes lanes, the vehicle needs to run obliquely forwards in the lane where the vehicle is located until the vehicle moves to another lane to continue to run forwards, so that the vehicle needs to have a longitudinal running speed to ensure that the vehicle continues to run forwards and a transverse running speed to enable the vehicle to deviate from the lane where the vehicle is located to move towards the other lane. Thus, the computer device controls the first vehicle to move from the first lane to the second lane at the longitudinal traveling speed and the lateral traveling speed.

Fig. 6 is a schematic diagram of the speed of the first vehicle according to an embodiment of the present application, where fig. 6 includes a comparison of the longitudinal running speed of the first vehicle before and after adjustment, and a comparison of the lateral running speed of the first vehicle before and after adjustment. Wherein the length of the arrow indicates the magnitude of the speed, the horizontal solid arrow indicates the longitudinal traveling speed of the first vehicle determined based on the traveling information of the second vehicle, and the vertical solid arrow indicates the lateral traveling speed of the first vehicle determined based on the traveling information of the second vehicle. The horizontal dotted arrow indicates the longitudinal running speed after the longitudinal speed adjustment parameter is superimposed, and the vertical dotted arrow indicates the lateral running speed after the lateral speed adjustment parameter is superimposed.

In addition, when lane changing is performed, the driver of the first vehicle needs to consider not only the traveling information of the second vehicle in the current lane but also the traveling information of the second vehicle in the lane to be driven into, so that lane changing of the first vehicle can be ensured, and the accuracy of controlling the first vehicle to perform lane changing is improved.

In addition, under the condition of changing the lane, the first vehicle not only needs to run longitudinally to ensure that the first vehicle continues to run forwards, but also needs to run transversely to ensure that the first vehicle can deviate from the current lane and move to the second lane, so that the lane changing process is ensured to be more in line with the actual situation, and the lane changing effect is more real.

In severe weather, water molecules are combined with dust in the road surface, oil stains of automobiles and other impurities and attached to the surface of a road to play a role in lubrication, so that the friction coefficient of the road is reduced, the anti-sideslip capability and the braking capability of a vehicle are weakened, the phenomena of skidding, braking distance extension and the like are easy to occur, the performance of the vehicle is changed, the performance of the vehicle is influenced by the environment, and the running condition of the vehicle is influenced by the performance of the vehicle.

In order to simulate a real traffic scene in a virtual scene, the performance of the first vehicle in the virtual scene may be affected by the environment in the virtual scene. The computer device thus determines a corresponding performance adjustment parameter for the first vehicle based on the environmental parameter of the virtual scene. The computer device obtains a performance parameter of the first vehicle, and adjusts the performance parameter based on the performance adjustment parameter to obtain an adjusted performance parameter.

The performance adjustment parameter is used for simulating the influence degree of the environment of the virtual scene on the performance of the first vehicle, and the performance parameter of the first vehicle represents the performance of the first vehicle. The performance parameter of the first vehicle acquired by the computer device represents the performance of the first vehicle when the first vehicle is not influenced by the environment of the virtual scene, the adjusted performance parameter represents the performance of the first vehicle after the first vehicle is influenced by the environment of the virtual scene, and then the running of the first vehicle is controlled based on the adjusted performance parameter of the first vehicle, namely the running condition of the first vehicle after the first vehicle is influenced by the environment can be modeled.

In one possible implementation, the performance parameter and the performance adjustment parameter satisfy at least one of the following.

(1) The performance parameter comprises a maximum driving speed, and the performance adjusting parameter comprises a first adjusting parameter, wherein the first adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the maximum driving speed of the first vehicle. Optionally, the computer device adjusts the maximum driving speed of the first vehicle according to the first adjustment parameter to obtain an adjusted maximum driving speed, where the adjusted maximum driving speed represents the maximum driving speed of the first vehicle after being influenced by the environment of the virtual scene.

For example, the computer device employs the following formula to determine the adjusted maximum travel speed.

；

Wherein the content of the first and second substances,

which is indicative of a first adjustment parameter,

represents the maximum travel speed of the first vehicle,

indicating the adjusted maximum travel speed.

(2) The performance parameters comprise a maximum acceleration, and the performance adjustment parameters comprise second adjustment parameters, wherein the second adjustment parameters are used for simulating the influence degree of the environment of the virtual scene on the maximum acceleration of the first vehicle. Optionally, the computer device adjusts the maximum acceleration of the first vehicle according to the second adjustment parameter, to obtain an adjusted maximum acceleration, where the adjusted maximum acceleration represents the maximum acceleration of the first vehicle after being affected by the environment of the virtual scene.

For example, the computer device employs the following formula to determine the adjusted maximum acceleration.

；

Wherein the content of the first and second substances,

which is indicative of a second adjustment parameter,

represents the maximum acceleration of the first vehicle,

indicating the adjusted maximum acceleration.

(3) The performance parameter comprises a distance threshold value, the distance threshold value represents the maximum visual field distance of the driver of the first vehicle, and the performance adjusting parameter comprises a third adjusting parameter, and the third adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the distance threshold value corresponding to the first vehicle. Optionally, the computer device adjusts a distance threshold corresponding to the first vehicle according to the third adjustment parameter, to obtain an adjusted distance threshold, where the adjusted distance threshold represents a maximum viewing distance of a driver of the first vehicle after being affected by the environment of the virtual scene.

For example, the computer device employs the following formula to determine the adjusted distance threshold.

；

Wherein the content of the first and second substances,

which represents a third adjustment parameter that is,

indicating a distance threshold corresponding to the first vehicle,

indicating an adjusted distance threshold.

(4) The performance parameters comprise minimum safe distance, and the performance adjusting parameters comprise fourth adjusting parameters, wherein the fourth adjusting parameters are used for simulating the influence degree of the environment of the virtual scene on the minimum safe distance corresponding to the first vehicle. Optionally, the computer device adjusts the minimum safety distance corresponding to the first vehicle according to the fourth adjustment parameter to obtain an adjusted minimum safety distance, where the adjusted minimum safety distance represents the minimum safety distance corresponding to the first vehicle after being affected by the environment of the virtual scene.

For example, the computer device employs the following formula to determine the adjusted minimum safe distance.

；

Wherein the content of the first and second substances,

a fourth adjustment parameter is indicated which is,

indicating a corresponding minimum safe distance for the first vehicle,

indicating the adjusted minimum safe distance.

In one possible implementation, in order to simulate a real traffic scene in a virtual scene, the performance of the first vehicle during driving in the virtual scene should be constrained to avoid that the driving condition of the first vehicle becomes a condition that is impossible to achieve in the real traffic scene. The performance parameter in the embodiment of the application includes a maximum performance parameter that can be achieved by the first vehicle during running, and the computer device controls the performance parameter of the first vehicle during running not to exceed the maximum performance parameter.

For example, the maximum performance parameter includes a maximum travel speed, and the computer device controls the travel speed of the first vehicle during travel not to exceed the maximum travel speed. For example, the maximum performance parameter comprises a maximum acceleration, and the computer device controls the acceleration of the first vehicle during driving not to exceed the maximum acceleration.

In one possible implementation, the computer device sets the speed of the first vehicle and the speed of the second vehicle to 0 in a case where there is an overlap of the position of the first vehicle and the position of any of the second vehicles.

In order to simulate the situation of two-vehicle collision in a real traffic scene, the computer device detects whether the position of the first vehicle overlaps with the position of the second vehicle in a virtual scene, and if the position of the first vehicle overlaps with the position of the second vehicle, the first vehicle and the second vehicle travel to the same position at the same time, namely the first vehicle and the second vehicle collide. In a real traffic scene, if two vehicles collide with each other, the two vehicles cannot normally run any more and stop at the position of the collision, so that the computer device sets the speed of the first vehicle and the speed of the second vehicle to 0 under the condition that the position of the first vehicle overlaps with the position of any vehicle, namely the first vehicle and the second vehicle stop at the position of the collision.

Optionally, the computer device removes the first vehicle and the second vehicle from the virtual scene in a case where a period in which the speed of the first vehicle and the speed of the second vehicle are set to 0 reaches a second period.

In order to model the situation in the real traffic scene, in the embodiment of the present application, a second time length is used to simulate a time length required for the rescue vehicle to tow the two vehicles away from the two vehicles, so that the computer device detects whether a time length for setting the speed of the first vehicle and the speed of the second vehicle to be 0 reaches the second time length, and if the time length reaches the second time length, the first vehicle and the second vehicle are removed from the virtual scene to simulate the first vehicle and the second vehicle to be towed by the rescue vehicle.

Alternatively, the computer device determines the second duration based on environmental parameters of the virtual scene, taking into account that the duration that the rescue vehicle takes to tow the two cars away may be affected by environmental factors. Or, the computer device may further determine the second duration according to at least one factor, such as historical data in the real traffic scene, a dispatch condition of the road condition rescue vehicle in the current virtual scene, and the like. Wherein the historical data in the real traffic scene includes the length of time it takes for the rescue vehicle to pull away the colliding vehicle in the real scene.

Fig. 7 is a schematic diagram of a collision between two vehicles according to an embodiment of the present disclosure, as shown in fig. 7, a first vehicle 701 and a first vehicle 702 are located on the same lane, and there is an overlapping portion between a position of the first vehicle 701 and a position of the second vehicle 702, specifically, a position of a head portion of the first vehicle 701 overlaps a position of a tail portion of the second vehicle, which may indicate that a rear-end collision occurs between the first vehicle 701 and the second vehicle 702.

Fig. 8 is another schematic diagram of a collision between two vehicles according to an embodiment of the present application, as shown in fig. 8, a first vehicle 801 and a second vehicle 802 are located on different lanes, and during a lane change of the first vehicle 801, there is an overlapping portion between a position of the first vehicle 801 and a position of the second vehicle 802, specifically, a position of a head portion of the first vehicle 801 overlaps a position of a body portion of the second vehicle 802, which may indicate that a scratch occurs between the first vehicle 801 and the second vehicle 802.

In a possible implementation manner, the computer device obtains a first distance between a stop line corresponding to a signal lamp and the first vehicle when detecting that the signal lamp in front of the first vehicle indicates to stop driving, and adjusts the first distance according to a second error parameter corresponding to the first vehicle to obtain a second distance. The second error parameter is used for simulating a judgment error of a distance between the stop line and the first vehicle by a driver of the first vehicle under the influence of the environment of the virtual scene. The computer device controls the first vehicle to travel in the virtual scene based on the second distance. Optionally, the computer device determines a second error parameter corresponding to the first vehicle based on the environmental parameter in the virtual scene.

In order to simulate that a vehicle in a real scene runs according to the indication of a signal lamp, in the embodiment of the application, when the signal lamp in front of a first vehicle indicates to stop running, the first vehicle can be controlled to run in a virtual scene according to the distance between the stop line corresponding to the signal lamp and the first vehicle. When the signal lamp in front of the first vehicle indicates stopping, the driver of the first vehicle judges the distance between the stop line corresponding to the signal lamp and the first vehicle, but the driver of the first vehicle is influenced by environmental factors, and misjudgment is generated on the distance between the stop line and the first vehicle, so that certain error exists in the determined distance.

Therefore, in order to simulate the influence of environmental factors during traffic simulation, after acquiring the first distance between the stop line and the first vehicle, the computer device firstly adjusts the first distance according to the second error parameter to obtain the second distance, so that the second distance is the distance after being influenced by the environment of the virtual scene, the distance between the stop line and the first vehicle which is mistakenly considered by a driver under the condition of being influenced by the environment can be represented, and then the first vehicle is controlled to run in the virtual scene based on the second distance, so that the running condition of the first vehicle after being influenced by the signal lamp indication and the environment can be simulated.

In addition, the second distance is misjudged by the driver, so that the first vehicle is controlled to run according to the second distance, the situation that the first vehicle violates the indication of the signal lamp can occur, and the situation that the first vehicle runs a red light or runs a yellow light in a real traffic scene is simulated.

Fig. 9 is a flowchart of a further vehicle control method provided in an embodiment of the present application, which is executed by a computer device, as shown in fig. 9, and includes the following steps.

901. And adjusting the performance parameters of the first vehicle in the virtual scene according to the performance adjusting parameters, wherein the performance parameters of the first vehicle comprise a maximum visual field distance, a minimum safety distance, a maximum speed, a maximum acceleration and the like.

902. And judging whether a second vehicle exists in the maximum visual field distance of the current lane, wherein the current lane is the lane where the first vehicle is located. And if the second vehicle does not exist, processing according to the fact that no vehicle exists in front of the first vehicle, and if the second vehicle exists, adjusting the running information of the second vehicle in the current lane according to the first error parameter, wherein the running information comprises the speed of the second vehicle and the distance between the second vehicle and the first vehicle.

903. And if the second vehicle does not exist in front, determining the acceleration of the first vehicle according to the current running information of the first vehicle, if the second vehicle exists in front, determining the first acceleration of the first vehicle according to the running information of the second vehicle after adjustment, and adjusting the first acceleration according to the acceleration adjusting parameter to obtain the second acceleration.

904. And judging whether the second acceleration is greater than the adjusted maximum acceleration, if so, determining the longitudinal running speed of the first vehicle according to the adjusted maximum acceleration, and adjusting the longitudinal running speed. And if the acceleration is not larger than the adjusted maximum acceleration, determining the longitudinal running speed of the first vehicle according to the second acceleration, and adjusting the longitudinal running speed.

905. And judging whether a second vehicle exists in the maximum visual field distance of the adjacent lane, wherein the adjacent lane is the lane adjacent to the lane where the first vehicle is located. And if the second vehicle does not exist, processing according to the fact that the first vehicle is not in the adjacent lane, and if the second vehicle exists, adjusting the running information of the second vehicle in the adjacent lane according to the first error parameter.

906. And judging whether the first vehicle has a lane change requirement, and if the first vehicle does not have the lane change requirement, updating the position of the first vehicle according to the longitudinal running speed of the first vehicle. And if the first vehicle has a lane change requirement and the adjacent lane does not have a second vehicle, determining the transverse traveling speed of the first vehicle according to the current traveling information of the first vehicle, and adjusting the transverse traveling speed. And if the first vehicle has a lane change requirement and the adjacent lane has a second vehicle, determining the transverse running speed of the first vehicle according to the running information of the second vehicle after adjustment in the adjacent lane, and adjusting the transverse running speed. And updating the position of the first vehicle based on the lateral travel speed and the longitudinal travel speed of the first vehicle.

907. And judging whether the position of the first vehicle and the position of the second vehicle are overlapped, if not, continuing to advance the simulation clock in the virtual scene, and starting the next step of updating the position of the first vehicle, namely returning to the step 902. If there is overlap, the first vehicle and the second vehicle are stopped to simulate a two-vehicle collision in a real traffic scene and the following step 908 is performed.

908. And judging whether the stop duration of the first vehicle and the second vehicle reaches the target duration, if not, continuing to be in a stop state in the virtual scene, and if so, removing the first vehicle and the second vehicle from the virtual scene.

Fig. 10 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application. Referring to fig. 10, the apparatus includes the following modules:

a first determining module 1001, configured to determine, based on an environmental parameter of a virtual scene, a first error parameter corresponding to a first vehicle in the virtual scene, where the first error parameter is used to simulate a determination error of a driving condition of a surrounding vehicle by a driver of the first vehicle under an influence of an environment of the virtual scene;

the first adjusting module 1002 is configured to adjust driving information of at least one second vehicle according to the first error parameter, where the second vehicle is a vehicle whose distance from the first vehicle is smaller than a distance threshold;

and a control module 1003, configured to control the first vehicle to travel in the virtual scene based on the adjusted travel information of the at least one second vehicle.

The device provided by the embodiment of the application adjusts the running information of the second vehicle based on the environmental parameters of the virtual scene and the running condition of the surrounding second vehicle, so that the adjusted running information can represent the running condition of the second vehicle which is mistakenly considered by a driver under the condition of being influenced by the environment, and the running of the first vehicle is controlled based on the adjusted running information of the second vehicle, thereby not only considering the influence of the surrounding vehicle, but also considering the interference caused by environmental factors to the driver, so that the control of the first vehicle is more consistent with the real condition, and the accuracy is improved.

Alternatively, referring to fig. 11, the first determining module 1001 includes:

a first determining unit 1101, configured to determine a first error parameter corresponding to the first vehicle based on the environmental parameter and a characteristic parameter corresponding to the first vehicle, where the characteristic parameter includes at least one of an aggressive parameter or a vehicle characteristic, and the aggressive parameter indicates a driving aggressive degree of a driver of the first vehicle.

Alternatively, referring to fig. 11, the control module 1003 includes:

a second determining unit 1102 for determining a first speed of the first vehicle based on the at least one second vehicle adjusted running information, the first speed referring to a running speed used by a driver of the first vehicle under the influence of a running situation of the second vehicle;

a first adjusting unit 1103, configured to adjust a first speed according to a correspondence of a first vehicle to obtain a second speed, where a speed adjustment parameter is used to simulate an influence degree of an environment of a virtual scene on the speed of the first vehicle;

and a control unit 1104 for controlling the first vehicle to travel in the virtual scene at the second speed.

Optionally, referring to fig. 11, a second determining unit 1102 is configured to:

determining a first acceleration of the first vehicle based on the at least one second vehicle adjusted driving information, the first acceleration referring to an acceleration used by a driver of the first vehicle under the influence of the driving situation of the second vehicle;

a first speed is determined based on a current speed and a second acceleration of the first vehicle.

Optionally, referring to fig. 11, the apparatus further comprises:

a second determining module 1004, configured to determine, based on the environmental parameter, a performance adjustment parameter corresponding to the first vehicle, where the performance adjustment parameter is used to simulate an influence degree of an environment of the virtual scene on performance of the first vehicle;

a first obtaining module 1005 for obtaining a performance parameter of the first vehicle, the performance parameter representing performance of the first vehicle;

a second adjusting module 1006, configured to adjust the performance parameter based on the performance adjusting parameter to obtain an adjusted performance parameter.

Alternatively, referring to fig. 11, the performance parameter includes a maximum performance parameter achievable by the first vehicle during travel, and the control module 1003 is further configured to control the performance parameter of the first vehicle during travel not to exceed the maximum performance parameter.

the performance parameters comprise maximum running speed, the performance adjusting parameters comprise first adjusting parameters, and the first adjusting parameters are used for simulating the influence degree of the environment of the virtual scene on the maximum running speed of the first vehicle;

the performance parameters comprise maximum acceleration, the performance adjusting parameters comprise second adjusting parameters, and the second adjusting parameters are used for simulating the influence degree of the environment of the virtual scene on the maximum acceleration of the first vehicle;

the performance parameters comprise a distance threshold value, the distance threshold value represents the maximum visual field distance of a driver of the first vehicle, and the performance adjusting parameters comprise third adjusting parameters which are used for simulating the influence degree of the environment of the virtual scene on the distance threshold value corresponding to the first vehicle;

the performance parameters comprise a minimum safety distance, the performance adjusting parameters comprise a fourth adjusting parameter, and the fourth adjusting parameter is used for simulating the influence degree of the environment of the virtual scene on the minimum safety distance corresponding to the first vehicle.

Optionally, referring to fig. 11, the apparatus further comprises:

a third determining module 1007, configured to determine a first lane where the first vehicle is located when the first vehicle does not change lanes;

a fourth determining module 1008, configured to determine a vehicle in the first lane, which is located in front of the first vehicle and whose distance from the first vehicle is not greater than the distance threshold, as the second vehicle.

Alternatively, referring to fig. 11, the control module 1003 includes:

a second determination unit 1102 for determining a longitudinal travel speed of the first vehicle based on the at least one second vehicle adjusted travel information;

a control unit 1104 for controlling the first vehicle to travel in the first lane at a longitudinal travel speed.

Optionally, referring to fig. 11, the apparatus further comprises:

a fifth determining module 1009, configured to determine, as the second vehicle, a vehicle in the first lane, where the first vehicle moves from the first lane to the second lane, and the vehicle is located in front of the first vehicle in the first lane, and a distance between the first vehicle and the vehicle is not greater than a distance threshold;

the fifth determining module 1009 is further configured to determine, as the second vehicle, a vehicle in the second lane, where a distance between the second lane and the first vehicle is not greater than the distance threshold.

Alternatively, referring to fig. 11, the control module 1003 includes:

a second determining unit 1102, configured to determine a longitudinal traveling speed of the first vehicle based on the adjusted traveling information of the second vehicle located in the first lane;

a second determining unit 1102, further configured to determine a lateral traveling speed of the first vehicle based on the adjusted traveling information of the second vehicle located in the second lane;

the control unit 1104 is further configured to control the first vehicle to move from the first lane to the second lane according to the longitudinal traveling speed and the lateral traveling speed.

Optionally, referring to fig. 11, the first adjusting module 1002 includes:

and a second adjusting unit 1105, configured to adjust the driving information of at least one second vehicle according to the first error parameter every other first time period.

Optionally, referring to fig. 11, the apparatus further comprises:

a speed setting module 1010 configured to set a speed of the first vehicle and a speed of the second vehicle to 0 if there is an overlap of the position of the first vehicle and the position of any of the second vehicles.

Optionally, referring to fig. 11, the apparatus further comprises:

a removing module 1011, configured to remove the first vehicle and the second vehicle from the virtual scene when a time period in which the speed of the first vehicle and the speed of the second vehicle are set to 0 reaches a second time period.

Optionally, referring to fig. 11, the apparatus further comprises:

a second obtaining module 1012, configured to obtain a first distance between a stop line corresponding to a signal lamp and a first vehicle when the signal lamp in front of the first vehicle is detected to indicate that the vehicle stops running;

the third adjusting module 1013 is configured to adjust the first distance according to a second error parameter corresponding to the first vehicle to obtain a second distance, where the second error parameter is used to simulate a judgment error of a driver of the first vehicle on a distance between the stop line and the first vehicle under the influence of an environment in the virtual scene;

the control module 1003 is further configured to control the first vehicle to travel in the virtual scene based on the second distance.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.

It should be noted that: the vehicle control device provided in the above embodiment is only exemplified by the division of the above functional modules when controlling the running of the vehicle, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the computer device may be divided into different functional modules to complete all or part of the above described functions. In addition, the vehicle control device and the vehicle control method provided by the above embodiment belong to the same concept, and the specific implementation process is described in the method embodiment, which is not described herein again.

The embodiment of the present application further provides a computer device, which includes a processor and a memory, where the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor, so as to implement the vehicle control method of the foregoing embodiment.

Optionally, the computer device is provided as a terminal. Fig. 12 is a schematic structural diagram of a terminal 1200 according to an embodiment of the present application. The terminal 1200 may be a portable mobile terminal such as: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion video Experts compression standard Audio Layer 3), an MP4 player (Moving Picture Experts Group Audio Layer IV, motion video Experts compression standard Audio Layer 4), a notebook computer, or a desktop computer. Terminal 1200 may also be referred to by other names such as user equipment, portable terminal, laptop terminal, desktop terminal, and so forth.

The terminal 1200 includes: a processor 1201 and a memory 1202.

The processor 1201 may include one or more processing cores, such as a 4-core processor, an 8-core processor, or the like. The processor 1201 may be implemented in at least one hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), and a PLA (Programmable Logic Array). The processor 1201 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in an awake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 1201 may be integrated with a GPU (Graphics Processing Unit) for rendering and drawing content required to be displayed by the display screen. In some embodiments, the processor 1201 may further include an AI (Artificial Intelligence) processor for processing a computing operation related to machine learning.

Memory 1202 may include one or more computer-readable storage media, which may be non-transitory. Memory 1202 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 1202 is used to store at least one computer program for execution by processor 1201 to implement the vehicle control methods provided by method embodiments herein.

In some embodiments, the terminal 1200 may further optionally include: a peripheral interface 1203 and at least one peripheral. The processor 1201, memory 1202, and peripheral interface 1203 may be connected by a bus or signal line. Various peripheral devices may be connected to peripheral interface 1203 via a bus, signal line, or circuit board. Specifically, the peripheral device includes: at least one of radio frequency circuitry 1204, a display 1205, a positioning component 1206, and a power supply 1207.

The peripheral interface 1203 may be used to connect at least one peripheral associated with I/O (Input/Output) to the processor 1201 and the memory 1202. In some embodiments, the processor 1201, memory 1202, and peripheral interface 1203 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 1201, the memory 1202 and the peripheral device interface 1203 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

The Radio Frequency circuit 1204 is used for receiving and transmitting RF (Radio Frequency) signals, also called electromagnetic signals. The radio frequency circuit 1204 communicates with a communication network and other communication devices by electromagnetic signals. The radio frequency circuit 1204 converts an electric signal into an electromagnetic signal to transmit, or converts a received electromagnetic signal into an electric signal. Optionally, the radio frequency circuit 1204 comprises: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and so forth. The radio frequency circuit 1204 may communicate with other terminals through at least one wireless communication protocol. The wireless communication protocols include, but are not limited to: the world wide web, metropolitan area networks, intranets, generations of mobile communication networks (2G, 3G, 4G, and 5G), Wireless local area networks, and/or WiFi (Wireless Fidelity) networks. In some embodiments, the rf circuit 1204 may further include NFC (Near Field Communication) related circuits, which are not limited in this application.

The display screen 1205 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display screen 1205 is a touch display screen, the display screen 1205 also has the ability to acquire touch signals on or over the surface of the display screen 1205. The touch signal may be input to the processor 1201 as a control signal for processing. At this point, the display 1205 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 1205 may be one, disposed on a front panel of the terminal 1200; in other embodiments, the display 1205 can be at least two, respectively disposed on different surfaces of the terminal 1200 or in a folded design; in other embodiments, the display 1205 may be a flexible display disposed on a curved surface or on a folded surface of the terminal 1200. Even further, the display screen 1205 may be arranged in a non-rectangular irregular figure, i.e., a shaped screen. The Display panel 1205 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), or other materials.

The positioning component 1206 is utilized to locate a current geographic position of the terminal 1200 to implement navigation or LBS (Location Based Service). The Positioning component 1206 can be a Positioning component based on a Global Positioning System (GPS) in the united states, a beidou System in china, a greiner Positioning System in russia, or a galileo Positioning System in the european union.

The power supply 1207 is used to provide power to various components within the terminal 1200. The power source 1207 may be alternating current, direct current, disposable or rechargeable. When the power source 1207 includes a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

Those skilled in the art will appreciate that the configuration shown in fig. 12 is not intended to be limiting of terminal 1200 and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components may be used.

Optionally, the computer device is provided as a server. Fig. 13 is a schematic structural diagram of a server 1300 according to an embodiment of the present application, where the server 1300 may generate a relatively large difference due to different configurations or performances, and may include one or more processors (CPUs) 1301 and one or more memories 1302, where the memory 1302 stores at least one computer program, and the at least one computer program is loaded and executed by the processors 1301 to implement the methods provided by the above method embodiments. Of course, the server may also have components such as a wired or wireless network interface, a keyboard, and an input/output interface, so as to perform input/output, and the server may also include other components for implementing the functions of the device, which are not described herein again.

The embodiment of the application also provides a computer-readable storage medium, wherein at least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor so as to realize the vehicle control method of the embodiment.

The embodiment of the present application further provides a computer program product, which includes a computer program that is loaded and executed by a processor to implement the vehicle control method of the above embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above description is only an alternative embodiment of the present application and is not intended to limit the present application, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle control method, characterized by comprising:

2. The method of claim 1, wherein determining a first error parameter corresponding to a first vehicle in the virtual scene based on an environmental parameter of the virtual scene comprises:

determining a first error parameter corresponding to the first vehicle based on the environmental parameter and a characteristic parameter corresponding to the first vehicle, wherein the characteristic parameter comprises at least one of an aggressive parameter or a vehicle characteristic, and the aggressive parameter represents a driving aggressive degree of a driver of the first vehicle.

3. The method of claim 1, wherein the controlling the first vehicle to travel in the virtual scene based on the at least one second vehicle adjusted travel information comprises:

determining a first speed of the first vehicle, which refers to a travel speed used by a driver of the first vehicle under the influence of a travel situation of the second vehicle, based on at least one of the second vehicle's adjusted travel information;

adjusting the first speed according to a speed adjustment parameter corresponding to the first vehicle to obtain a second speed, wherein the speed adjustment parameter is used for simulating the influence degree of the environment of the virtual scene on the speed of the first vehicle;

and controlling the first vehicle to run in the virtual scene according to the second speed.

4. The method of claim 3, wherein determining the first speed of the first vehicle based on the at least one second vehicle adjusted travel information comprises:

5. The method of claim 1, further comprising:

determining a performance adjustment parameter corresponding to the first vehicle based on the environment parameter, wherein the performance adjustment parameter is used for simulating the influence degree of the environment of the virtual scene on the performance of the first vehicle;

obtaining a performance parameter of the first vehicle, the performance parameter being indicative of a performance of the first vehicle;

and adjusting the performance parameters based on the performance adjusting parameters to obtain the adjusted performance parameters.

6. The method of claim 5, wherein the performance parameter comprises a maximum performance parameter achievable by the first vehicle during travel, the method further comprising:

controlling the performance parameter of the first vehicle during driving not to exceed the maximum performance parameter.

7. The method of claim 5, wherein the performance parameter and the performance adjustment parameter satisfy at least one of:

8. The method according to any one of claims 1-7, wherein before adjusting the driving information of at least one second vehicle in accordance with the first error parameter, the method further comprises:

under the condition that the first vehicle does not change lanes, determining a first lane where the first vehicle is located;

determining a vehicle in the first lane, which is located in front of the first vehicle and has a distance to the first vehicle not greater than the distance threshold value, as the second vehicle.

9. The method of claim 8, wherein the controlling the first vehicle to travel in the virtual scene based on the at least one second vehicle adjusted travel information comprises:

determining a longitudinal travel speed of the first vehicle based on at least one of the second vehicle's adjusted travel information;

controlling the first vehicle to travel in the first lane at the longitudinal travel speed.

10. The method according to any one of claims 1-7, wherein before adjusting the driving information of at least one second vehicle in accordance with the first error parameter, the method further comprises:

determining a vehicle in the first lane, which is located in front of the first vehicle and has a distance to the first vehicle not greater than the distance threshold value, as the second vehicle when the first vehicle moves from a first lane to a second lane;

determining a vehicle in the second lane having a distance to the first vehicle that is not greater than the distance threshold as the second vehicle.

11. The method of claim 10, wherein controlling the first vehicle to travel in the virtual scene based on the at least one second vehicle adjusted travel information comprises:

determining a longitudinal travel speed of the first vehicle based on the adjusted travel information of the second vehicle located on the first lane;

determining a lateral travel speed of the first vehicle based on the adjusted travel information of the second vehicle located in the second lane;

controlling the first vehicle to move from the first lane to the second lane according to the longitudinal traveling speed and the lateral traveling speed.

12. The method according to any one of claims 1-7, wherein said adjusting the driving information of at least one second vehicle according to said first error parameter comprises:

and adjusting the running information of at least one second vehicle every a first time according to the first error parameter.

13. The method according to any one of claims 1-7, further comprising:

setting the speed of the first vehicle and the speed of the second vehicle to 0 in a case where there is an overlap between the position of the first vehicle and the position of any of the second vehicles.

14. The method of claim 13, wherein after setting the speed of the first vehicle and the speed of the second vehicle to 0 in the presence of an overlap of the position of the first vehicle and the position of any of the second vehicles, the method further comprises:

removing the first vehicle and the second vehicle from the virtual scene in a case where a period in which the speed of the first vehicle and the speed of the second vehicle are set to 0 reaches a second period.

15. The method according to any one of claims 1-7, further comprising:

under the condition that a signal lamp in front of the first vehicle indicates to stop running, acquiring a first distance between a stop line corresponding to the signal lamp and the first vehicle;

adjusting the first distance according to a second error parameter corresponding to the first vehicle to obtain a second distance, wherein the second error parameter is used for simulating a judgment error of a driver of the first vehicle on the distance between the stop line and the first vehicle under the influence of the environment of the virtual scene;

controlling the first vehicle to travel in the virtual scene based on the second distance.

16. A vehicle control apparatus, characterized in that the apparatus comprises:

17. A computer device, characterized in that the computer device comprises a processor and a memory, in which at least one computer program is stored, which is loaded and executed by the processor to implement the vehicle control method according to any one of claims 1 to 15.

18. A computer-readable storage medium, in which at least one computer program is stored, which is loaded and executed by a processor to implement the vehicle control method according to any one of claims 1 to 15.

19. A computer program product comprising a computer program, characterized in that the computer program realizes the vehicle control method according to any one of claims 1 to 15 when executed by a processor.