CN114415542A - Automatic driving simulation system, method, server and medium - Google Patents

Abstract

The invention discloses an automatic driving simulation system, a method, a server and a medium, wherein a scene construction subsystem in the system is used for processing received data to be processed corresponding to a target area to obtain a simulation scene file corresponding to the target area; the simulation service subsystem is communicated with the scene construction subsystem and is used for acquiring the simulation scene file determined by the scene construction subsystem and processing the simulation scene file to obtain a dynamic scene corresponding to the target area so as to perform automatic driving simulation on the subsystem to be tested based on the dynamic scene; and an automatic driving algorithm is integrated in the subsystem to be tested. The technical scheme of the embodiment of the invention solves the problems of certain safety risk and high labor cost in the prior art when the road test is carried out, realizes the corresponding road test in the simulation environment, and improves the technical effects of the road test efficiency and the safety.

Description

Autonomous driving simulation system, method, server and medium

technical field

The embodiments of the present invention relate to the technical field of automatic driving, and in particular, to an automatic driving simulation system, method, server and medium.

Background technique

At present, unmanned vehicles have become a trend. Before the specific application of unmanned vehicles, a road test can be carried out to determine the control effect of the automatic driving algorithm, and then the automatic driving algorithm of the effect can be adjusted based on the control effect. This method is also called road test.

The main road test is to deploy the automatic driving algorithm on the automatic driving vehicle, and start the automatic driving in the real road environment to test the automatic driving algorithm. This test method is based on the real traffic environment, and the test results are real and reliable.

However, the above methods have certain problems. The automatic driving algorithm is not mature. When the unmanned vehicle performs road testing based on this algorithm, there are certain safety risks, high labor costs, and it is difficult to complete high mileage and multiple scenarios in a short period of time. Covered tests.

SUMMARY OF THE INVENTION

The present invention provides an automatic driving simulation system, method, server and medium, so as to complete tests in various scenarios in a simulation environment, which not only improves test efficiency and safety, but also reduces labor costs.

In a first aspect, an embodiment of the present invention provides an automatic driving simulation system, which includes: a scene construction subsystem and a simulation service subsystem;

The scene construction subsystem is used to process the received data to be processed corresponding to the target area, and obtain a simulation scene file corresponding to the target area; wherein, the target area is the area of the unmanned vehicle road test , the data to be processed corresponds to the traffic element information in the target area;

A simulation service subsystem, which communicates with the scene construction subsystem, is used to obtain the simulation scene file determined by the scene construction subsystem, and processes the simulation scene file to obtain a corresponding file corresponding to the target area. A dynamic scene is used to perform automatic driving simulation on the subsystem under test in the dynamic scene; wherein, an automatic driving algorithm is integrated in the subsystem under test.

In a second aspect, an embodiment of the present invention also provides a simulation method for applying an automatic driving simulation system, where the driving simulation system includes a scene construction subsystem and a simulation service subsystem;

The simulation method includes:

The scene construction subsystem processes the received data to be processed corresponding to the target area, and obtains a simulation scene file corresponding to the target area; wherein, the target area is the area of the unmanned vehicle road test, The data to be processed corresponds to the traffic element information in the target area;

The simulation service subsystem acquires the simulation scene file determined by the scene construction subsystem, and processes the simulation scene file to obtain a dynamic scene corresponding to the target area, so as to match the dynamic scene based on the dynamic scene. The tested subsystem performs automatic driving simulation; wherein, an automatic driving algorithm is integrated in the tested subsystem.

In a third aspect, an embodiment of the present invention further provides a server, where the server includes:

one or more processors;

storage means for storing one or more programs,

When the one or more programs are executed by the one or more processors, the one or more processors implement the simulation method for applying an automatic driving simulation system according to any one of the embodiments of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, when executed by a computer processor, the computer-executable instructions are used to execute the automatic application according to any one of the embodiments of the present invention. Simulation method for driving simulation system.

In the technical solution of the embodiment of the present invention, the received to-be-processed data corresponding to the target area is processed by the scene construction subsystem to obtain a simulation scene file corresponding to the target area, and the simulation service subsystem obtains the scene construction subsystem to determine The simulation scene file is created, and the simulation scene file is processed to obtain the dynamic scene corresponding to the target area, so as to carry out the automatic driving simulation of the tested subsystem based on the dynamic scene. At this time, the tested subsystem integrates the automatic driving algorithm , which solves the technical problems of low safety and high cost when testing the automatic driving algorithm of the unmanned vehicle in the prior art, and realizes the testing of the automatic driving algorithm in the virtual scene, And the virtual scene is constructed based on the real collected road environment information, thereby improving the technical effect of the authenticity, safety and effectiveness of the simulation test.

Description of drawings

In order to illustrate the technical solutions of the exemplary embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings used in describing the embodiments. Obviously, the introduced drawings are only a part of the drawings of the embodiments to be described in the present invention, rather than all drawings. For those of ordinary skill in the art, without creative work, they can also obtain the drawings according to these drawings. Additional drawings.

1 is a schematic structural diagram of an automatic driving simulation system according to Embodiment 1 of the present invention;

FIG. 2 is another schematic structural diagram of an automatic driving simulation system according to Embodiment 1 of the present invention;

FIG. 3 is a schematic flowchart of a simulation method applying an automatic driving simulation system provided by Embodiment 2 of the present invention;

FIG. 4 is a schematic structural diagram of a server according to Embodiment 3 of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all structures related to the present invention.

Example 1

FIG. 1 is a schematic structural diagram of an automatic driving simulation system provided by Embodiment 1 of the present invention. This embodiment can be applied to the situation where various simulated vehicles perform simulated driving in various scenarios, and the system can be used to execute the simulation method. , the system may be implemented in the form of software and/or hardware, and the hardware may be an electronic device, such as a mobile terminal or a PC.

Referring to FIG. 1 , the automatic driving simulation system provided by the embodiment of the present invention includes: a scene construction subsystem 110 and a simulation service subsystem 120 .

The scene construction subsystem 110 is used to process the received data to be processed corresponding to the target area to obtain a simulation scene file corresponding to the target area; wherein the target area is an unmanned vehicle road The data to be processed corresponds to the traffic element information in the target area; the simulation service subsystem 120 communicates with the scene construction subsystem and is used to obtain all the information determined by the scene construction subsystem. The simulation scene file is processed and the simulation scene file is processed to obtain a dynamic scene corresponding to the target area, so as to perform automatic driving simulation on the tested subsystem based on the dynamic scene; An autonomous driving algorithm is integrated into the system.

Among them, the scene construction subsystem is used to process the scene files under the corresponding scene, and then obtain the corresponding simulation scene. If the user wants to build a simulation scene corresponding to area A, area A can be used as the target area. The simulation scene file may be a scene file corresponding to the target area. The scene file may include element information of each traffic element in the environment. The data to be processed corresponds to the traffic element information in the target area, and the traffic element information includes information such as pedestrians, vehicles, and indicator lights. The target area is an unmanned road test area. The simulation service subsystem loads the simulation file to obtain the corresponding dynamic scene, that is, the dynamic scene can be simulated accordingly.

Exemplarily, referring to FIG. 2 , the automatic driving simulation system includes a scene construction subsystem and a simulation service subsystem. The scene construction subsystem is used to process the received data to be processed to obtain a simulation scene file corresponding to the target area. The simulation service subsystem is used to process the simulation scene file to obtain a dynamic simulation scene. The subsystem under test is processed based on the dynamic simulation scene, and then the corresponding test report is obtained.

Among them, the autonomous driving algorithm is integrated in the tested subsystem. The subsystem under test can receive the traffic element status information sent by the simulation service subsystem, and enter the vehicle control command to issue the driving algorithm, that is, control the vehicle to simulate driving based on the automatic driving algorithm in the simulation test scene.

In this embodiment, before the scene-based construction subsystem processes the received data to be processed, the data acquisition system also needs to collect the corresponding data to be processed.

Wherein, the data acquisition subsystem can be set on a corresponding vehicle, and the vehicle can be an unmanned vehicle or a manned vehicle. The vehicle can be equipped with a full set of hardware and software for autonomous driving to support perception data collection and autonomous driving functions. Hardware can be cameras and lidars. The vehicle can drive in each area, and collect the traffic element information in the corresponding area based on the camera and lidar during the driving process, that is, collect the traffic flow data in real time. After the collection is completed, the collected data can be stored locally, and the data stored locally is stored in a preset format, and the preset format can be .record.

Specifically, during the driving of the vehicle, actual traffic flow information may be collected based on a data collection subsystem set on the vehicle, and the actual traffic flow information may be stored locally as data to be processed in a preset format. That is to say, the data collection subsystem is used to collect real traffic element data in the real traffic environment, such as the information of various vehicles, pedestrians, indicator lights, and road conditions in the actual traffic environment.

In this embodiment, the data acquisition subsystem includes a camera module and a data conversion module. The camera module is used to capture image information in the target area when the unmanned vehicle is controlled to drive, or other manned vehicles are driving. The target area may be an area corresponding to the scene to be tested. For example, to collect traffic element information in area A, area A may be used as the target area. The target image information includes traffic element information, and the traffic element information includes at least one of roads, pedestrians, vehicles, and indicator lights in the target area. The data conversion module communicates with the camera module, and is used to convert the target image into structured data after the camera module collects the target image information to obtain a lightweight data stream corresponding to the target area, that is, to obtain a video corresponding to the target area. The lightweight data stream corresponding to the stream. Lightweight data streams can be used as pending data.

It should be noted that after obtaining the data to be processed, the data to be processed can be stored locally, and when stored locally, it can be stored in a preset format. The advantage of this is that it is convenient for the simulation service subsystem to identify the corresponding pending data. data.

In this embodiment, the scene construction subsystem includes: a data extraction module for extracting traffic element information in the data to be processed; a fitting module for matching the traffic element information with the target area corresponding to the The map information is fitted to obtain a running trace matching the target area; a scene construction module is used to generate the simulation scene file based on the running trace.

Specifically, the scene construction subsystem is mainly used to construct a corresponding simulation scene. The data extraction module is used for acquiring the data to be processed collected by the data acquisition subsystem, and extracting the traffic element information from the data to be processed, and at the same time, it can also extract the map information of the corresponding area. Based on the fitting module, the traffic element information can be fused into the map to obtain a dynamic simulation scene. That is to say, the data collected by the data acquisition module is static data. In order to obtain a simulation scene, the static data can be fused with a map of a certain area to obtain a dynamic scene file. You can use dynamic scene files as simulation scene files.

Exemplarily, the scene construction subsystem extracts the perception data stored in the .record file, and labels the state information of the traffic element, optionally, the location of the traffic element on the map, the size and type of the traffic element on the map, That is, it is fitted with the map where the real traffic environment is located, and the motion traces of the traffic elements are generated. The simulation scene compatible with the simulation service subsystem can be constructed according to the running point trace. At this time, the format of the simulation scene file is .json format.

In this embodiment, the simulation service subsystem is configured to perform parsing processing on the simulation scene file, so as to convert the simulation scene file into a dynamic scene; wherein the dynamic scene and the unmanned vehicle are in The corresponding scene when driving in the target area is matched.

Among them, the dynamic scene can be understood as the simulated real environment scene. That is, the dynamic scene matches the scene corresponding to the unmanned vehicle driving in the target area.

In this embodiment, the simulation service subsystem includes: a state update module for creating an information sending sub-thread, and sending updated traffic element information to the measured subsystem according to a preset configuration rule; monitoring a module for monitoring the vehicle control instructions fed back by the tested subsystem based on the updated traffic element information; a control module for receiving the vehicle control instructions and controlling the simulation in the dynamic scene based on the vehicle control instructions driving in.

Among them, the status update module mainly creates sub-threads and continuously updates the status of the traffic elements, such as the position information of each traffic element in the map. At the same time, the state update module is also used to periodically send the latest state information of the traffic element to the measured subsystem. After receiving the updated traffic element status information, the tested subsystem can send corresponding control instructions to the target vehicle based on the automatic driving algorithm. At this time, the monitoring module can monitor the vehicle control instructions fed back by the subsystem under test.

It should be noted that the vehicle control instructions fed back by the tested subsystem are generated by the automatic driving algorithm based on the updated traffic element state information. For example, the updated traffic element state information is: the location information of the traffic participating vehicle A and the location information of the simulated vehicle. When the measured subsystem determines that the distance between the two location information is smaller than the preset distance threshold, the sent medium The control instruction may be that the target simulated vehicle stops running, or the target simulated vehicle decelerates. The control module can control the target simulated vehicle to perform operations corresponding to the central control command based on the received central control command. At this time, the corresponding operation may be to control the movement of the target simulation vehicle in the simulation map, and the simulation process of the above-mentioned work continues until the simulation ends or abnormal termination.

In the technical solution of the embodiment of the present invention, the received to-be-processed data corresponding to the target area is processed by the scene construction subsystem to obtain a simulation scene file corresponding to the target area, and the simulation service subsystem obtains the scene construction subsystem to determine The simulation scene file is created, and the simulation scene file is processed to obtain the dynamic scene corresponding to the target area, so as to carry out the automatic driving simulation of the tested subsystem based on the dynamic scene. At this time, the tested subsystem integrates the automatic driving algorithm , which solves the technical problems of low safety and high cost when testing the automatic driving algorithm of the unmanned vehicle in the prior art, and realizes the testing of the automatic driving algorithm in the virtual scene, And the virtual scene is constructed based on the real collected road environment information, thereby improving the technical effect of the authenticity, safety and effectiveness of the simulation test.

It should be noted that the simulation scene generated by the simulation subsystem of the present invention is based on real traffic flow, which can ensure the authenticity of the simulation scene to the greatest extent; further, the simulation system of the present invention makes full use of the massive data collected by the data collection vehicle The perception data can be quickly converted into a large number of complex scenes by using the system to improve the efficiency of scene creation; thirdly, the simulation system of the present invention can convert the problem scenes that occur in the automatic driving road test into simulation scenes, and in the simulation environment, the This problem scenario recurs continuously, which is beneficial to the validity verification of algorithm optimization iteration; finally, the simulation system of the present invention implements a method of introducing human driving decision-making into the simulation scene, and integrates the automatic driving algorithm and human driving in the same scene It is beneficial to mine the optimization direction of the automatic driving algorithm.

The automatic driving simulation system provided by the embodiment of the present invention can execute the method for applying the automatic driving simulation system provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

It is worth noting that the units and modules included in the above system are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only For the convenience of distinguishing from each other, it is not used to limit the protection scope of the embodiments of the present invention.

Embodiment 2

FIG. 3 is a schematic flowchart of a method for applying an automatic driving simulation system according to Embodiment 2 of the present invention. The method can be applied in the situation where the automatic driving algorithm needs to be verified, and the realization of the method can be realized by the automatic driving simulation system. . The system can be built in hardware or software, and the hardware can be a server. Wherein, the technical terms that are the same as or corresponding to the above embodiments are not repeated here.

As shown in Figure 3, the method includes:

S310. The scene construction subsystem processes the received data to be processed corresponding to the target area, and obtains a simulation scene file corresponding to the target area; wherein, the target area is an area of the unmanned vehicle road test, and the to-be-processed data is the same as the target area. The traffic element information in the target area corresponds.

S320, the simulation service subsystem obtains the simulation scene file determined by the scene construction subsystem, and processes the simulation scene file to obtain a dynamic scene corresponding to the target area, so as to perform automatic driving simulation on the tested subsystem in the dynamic scene; Among them, the autonomous driving algorithm is integrated in the tested subsystem.

For the implementation process of the embodiments of the present invention, reference may be made to the following detailed descriptions:

Step 1: Build the data acquisition subsystem. The data acquisition subsystem hardware can be mounted on self-driving unmanned vehicles or manned vehicles. The hardware carried at this time can be a camera device and a lidar, and the data acquisition subsystem is mainly used to support perception data acquisition.

Step 2: At the same time, the data acquisition subsystem includes a perceptual data acquisition plug-in. The perception data collection plug-in has the function of acquiring the perception data output by the autonomous driving perception algorithm and storing it in a local file. In this example, the local file format is .record.

Step 3: Integrate the perceptual data collection plug-in in step 2 in the data collection subsystem.

Step 4: Use the data collection subsystem to collect perception data in the real traffic environment and generate a .record file. It can be understood that the above-mentioned integrated data acquisition subsystem can be installed on the vehicle, and based on the data acquisition subsystem during the driving process of the vehicle, the traffic element information of the vehicle driving is collected, and the traffic element information is stored locally, and the obtained format is . record file.

Step 5: Scene Construction Subsystem. The scene construction subsystem extracts the perception data stored in the .record file, that is, the actual traffic environment information. At this time, the traffic environment information includes the traffic element information. Fit the state information of the traffic element (such as the size, location, etc. of the traffic element) with the map of the real traffic environment (that is, fit the map of a certain area) to obtain the running point trace of the traffic element, and then according to Run the trace to build a simulation scene compatible with the simulation service subsystem. In this example, the format of the simulation scene file is .json.

Step 6: Use the scene construction subsystem to convert the .record file generated in step 4 into a simulation scene file. That is to say, based on the scene construction subsystem, the data to be processed is processed to obtain a simulation scene file.

Step 7: Simulate the service subsystem. The simulation service subsystem reads the point traces of all traffic elements in the simulation scene file. At the same time, a child thread can be created, and the state of the traffic element (position coordinates in the map) can be continuously updated based on the created child thread. Further, the latest state of the traffic element can be sent based on the cycle of the created child thread, that is, After the state information of the traffic element changes, the traffic element information after the state change can be sent to the subsystem under test based on the sub-thread cycle. Further, a sub-thread can be created, and the sub-thread is used to monitor the vehicle control instructions fed back by the subsystem under test. It can be understood that after the status information of the traffic element is sent to the subsystem under test, the subsystem under test can According to the changed traffic element state information, the control command sent to the target simulated vehicle is determined, and the control command is fed back to the simulation service subsystem. The simulation service subsystem can control the simulated vehicle under test to move in the map according to the received vehicle control instructions, that is, the control instructions. The above work continues during the simulation process until the simulation ends or abnormal termination.

Step 8: Load the simulation scene file generated in Step 6 into the simulation service subsystem, and start the simulation.

Step 9: The simulation service subsystem generates a simulation test report after the simulation runs. The simulation test includes the ability to evaluate the control effect of the algorithm integrated in the tested subsystem on the target simulated vehicle.

In the technical solution of the embodiment of the present invention, the received to-be-processed data corresponding to the target area is processed by the scene construction subsystem to obtain a simulation scene file corresponding to the target area, and the simulation service subsystem obtains the scene construction subsystem to determine The simulation scene file is created, and the simulation scene file is processed to obtain the dynamic scene corresponding to the target area, so as to carry out the automatic driving simulation of the tested subsystem based on the dynamic scene. At this time, the tested subsystem integrates the automatic driving algorithm , which solves the technical problems of low safety and high cost when testing the automatic driving algorithm of the unmanned vehicle in the prior art, and realizes the testing of the automatic driving algorithm in the virtual scene, And the virtual scene is constructed based on the real collected road environment information, thereby improving the technical effect of the authenticity, safety and effectiveness of the simulation test.

Embodiment 3

FIG. 4 is a schematic structural diagram of a server according to Embodiment 3 of the present invention. Figure 4 shows a block diagram of an exemplary server 40 suitable for use in implementing embodiments of the present invention. The server 40 shown in FIG. 4 is only an example, and should not impose any limitations on the functions and scope of use of the embodiments of the present invention.

As shown in FIG. 4, server 40 takes the form of a general-purpose computing device. Components of server 40 may include, but are not limited to, one or more processors or processing units 401, system memory 402, and a bus 403 connecting different system components (including system memory 402 and processing unit 401).

Bus 403 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect ( PCI) bus.

Server 40 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by server 40, including volatile and non-volatile media, removable and non-removable media.

System memory 402 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 404 and/or cache memory 405 . Server 40 may further include other removable/non-removable, volatile/non-volatile computer system storage media. For example only, storage system 406 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in FIG. 4, a disk drive may be provided for reading and writing to removable non-volatile magnetic disks (eg "floppy disks"), as well as removable non-volatile optical disks (eg CD-ROM, DVD-ROM) or other optical media) to read and write optical drives. In these cases, each drive may be connected to bus 403 through one or more data media interfaces. Memory 402 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present invention.

A program/utility 408 having a set (at least one) of program modules 407, which may be stored, for example, in memory 402, such program modules 407 including, but not limited to, an operating system, one or more application programs, other program modules, and program data , each or some combination of these examples may include an implementation of a network environment. Program modules 407 generally perform the functions and/or methods in the described embodiments of the present invention.

The server 40 may also communicate with one or more external devices 409 (eg, keyboards, pointing devices, displays 410, etc.), with one or more devices that enable a user to interact with the server 40, and/or with the Server 40 can communicate with any device (eg, network card, modem, etc.) that communicates with one or more other computing devices. Such communication may take place through input/output (I/O) interface 411 . Also, the server 40 may communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 412 . As shown, network adapter 412 communicates with other modules of server 40 via bus 403 . It should be understood that, although not shown in FIG. 4, other hardware and/or software modules may be used in conjunction with server 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives and data backup storage systems.

The processing unit 401 executes various functional applications and data processing by running the programs stored in the system memory 402, for example, implementing the simulation method for applying the automatic driving simulation system provided by the embodiments of the present invention.

Embodiment 4

Embodiment 4 of the present invention further provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to execute a simulation method for applying an automatic driving simulation system.

The method includes:

The scene construction subsystem processes the received data to be processed corresponding to the target area, and obtains a simulation scene file corresponding to the target area; wherein, the target area is the area of the unmanned vehicle road test, The data to be processed corresponds to the traffic element information in the target area;

The simulation service subsystem obtains the simulation scene file determined by the scene construction subsystem, and processes the simulation scene file to obtain a dynamic scene corresponding to the target area, so as to be used in the dynamic scene. An automatic driving simulation is performed on the subsystem under test; wherein, an automatic driving algorithm is integrated in the subsystem under test.

The computer storage medium in the embodiments of the present invention may adopt any combination of one or more computer-readable mediums. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (a non-exhaustive list) of computer readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

Program code embodied on a computer readable medium may be transmitted using any suitable medium, including - but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out the operations of embodiments of the present invention may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, and A conventional procedural programming language - such as the "C" language or similar programming language. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

Note that the above are only preferred embodiments of the present invention and applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and can also include more other equivalent embodiments without departing from the concept of the present invention. The scope is determined by the scope of the appended claims.

Claims (10)

1. an automatic driving simulation system, is characterized in that, comprises: scene construction subsystem and simulation service subsystem; The scene construction subsystem is used to process the received data to be processed corresponding to the target area, and obtain a simulation scene file corresponding to the target area; wherein, the target area is the area of the unmanned vehicle road test , the data to be processed corresponds to the traffic element information in the target area; A simulation service subsystem, which communicates with the scene construction subsystem, is used to obtain the simulation scene file determined by the scene construction subsystem, and processes the simulation scene file to obtain a corresponding file corresponding to the target area. A dynamic scene is used to perform automatic driving simulation on the subsystem under test in the dynamic scene; wherein, an automatic driving algorithm is integrated in the subsystem under test. 2. The system of claim 1, wherein the system further comprises: The data collection subsystem is arranged on the unmanned vehicle, and is used for collecting traffic element information in the target area when the unmanned vehicle is controlled to drive in the target area. 3. The system according to claim 1, wherein the data acquisition subsystem comprises a camera module and a data conversion module; The camera module is configured to capture target image information of the target area when the unmanned vehicle is controlled to drive; wherein, the target image information includes traffic element information, and the traffic element information includes the target At least one of road, pedestrian, vehicle and indicator information in the area; The data conversion module, in communication with the camera module, is used to convert the target image information into structured data, obtain a lightweight data stream corresponding to the target area, and convert the lightweight data stream into the data stream. as said data to be processed; Wherein, the data to be processed is stored in a preset format. 4. The system according to claim 1, wherein the scene construction subsystem comprises: The data extraction module is used to extract the traffic element information in the data to be processed; a fitting module, configured to fit the traffic element information with the map information corresponding to the target area to obtain a running track that matches the target area; A scene construction module, configured to generate the simulation scene file based on the running point trace. 5 . The system according to claim 1 , wherein the simulation service subsystem is configured to perform parsing processing on the simulation scene file, so as to convert the simulation scene file into a dynamic scene; wherein, the The dynamic scene matches the scene corresponding to the unmanned vehicle driving in the target area. 6. The system according to claim 1, wherein the simulation service subsystem comprises: a state update module, used to create an information sending sub-thread, and send the updated traffic element information to the measured subsystem according to a preset configuration rule; a monitoring module for monitoring the vehicle control instructions fed back by the tested subsystem based on the updated traffic element information; The control module is configured to receive the vehicle control instruction, and control the simulation to drive in the dynamic scene based on the vehicle control instruction. 7 . The system according to claim 6 , wherein the traffic element information further comprises: pedestrian position information and position information of simulated vehicles in the simulation service subsystem. 8 . 8. A simulation method for applying an automatic driving simulation system, comprising: a scene construction subsystem and a simulation service subsystem; The simulation method includes: The scene construction subsystem processes the received data to be processed corresponding to the target area, and obtains a simulation scene file corresponding to the target area; wherein, the target area is the area of the unmanned vehicle road test, the data to be processed corresponds to the traffic element information in the target area; The simulation service subsystem obtains the simulation scene file determined by the scene construction subsystem, and processes the simulation scene file to obtain a dynamic scene corresponding to the target area, so as to be used in the dynamic scene. An automatic driving simulation is performed on the subsystem under test; wherein, an automatic driving algorithm is integrated in the subsystem under test. 9. A server, characterized in that the server comprises: one or more processors; storage means for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the simulation method for applying an automatic driving simulation system according to any one of claim 8 . 10 . A storage medium containing computer-executable instructions, which when executed by a computer processor, are used to execute the simulation method for applying an automatic driving simulation system as claimed in claim 8 . 11 .

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