CN114543828A - Vehicle cut-in scene generation method and device, electronic equipment and storage medium - Google Patents
Vehicle cut-in scene generation method and device, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3492—Special cost functions, i.e. other than distance or default speed limit of road segments employing speed data or traffic data, e.g. real-time or historical
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3691—Retrieval, searching and output of information related to real-time traffic, weather, or environmental conditions
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Abstract
The invention discloses a vehicle cut-in scene generation method, a vehicle cut-in scene generation device, electronic equipment and a storage medium, wherein the method comprises the following steps: when the target vehicle is cut into the own vehicle lane from the target lane, acquiring the speed, the first own vehicle position, the cutting distance and the cutting time of the target vehicle; determining a cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance; determining the cut-in end point position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in starting point position; the vehicle cut-in scene is generated according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in start position, and the cut-in end position. Through the technical scheme, the tester can construct various vehicle cut-in scenes by modifying any parameters such as the speed, the cut-in distance and the cut-in time of the target vehicle, and the test method has the advantages of convenience in construction of the test scenes and easiness in realization of automatic testing.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a vehicle cut-in scene generation method and device, electronic equipment and a storage medium.
Background
With the rapid development of society, the research of automatic driving technology has become one of the hot topics. In order to improve the safety and reliability of the automatic driving of the vehicle, a simulation test is an essential loop in the research of the automatic driving technology. The automatic driving scene can be enriched through simulation test, enough test resources can be provided for automatic driving development test, and therefore the automatic driving software development period is saved.
The conventional simulation of the cut-in scene of the automatic driving vehicle usually depends on data generated by the vehicle in a real driving environment, environment information is determined by acquiring the data of the vehicle in the real scene, the cut-in scene of the vehicle is generated according to the environment information, and then the simulation test of the cut-in of the vehicle is carried out.
However, when the existing scheme is used for simulation testing, because the environment composition of the real scene is complex, the obtained test data needs to be further processed, and a simulation test scene cut into by the vehicle is regenerated according to the processed data, so that the generation process of the test scene is complex and the period is long.
Disclosure of Invention
The invention provides a vehicle cut-in scene generation method and device, electronic equipment and a storage medium, and aims to solve the problem that the existing vehicle cut-in scene generation process is complex.
According to an aspect of the present invention, there is provided a vehicle cut-in scene generation method, including:
when a target vehicle is cut into a vehicle lane from a target lane, acquiring the speed, a first vehicle position, a cut-in distance and a cut-in time of the target vehicle, wherein the first vehicle position is the vehicle position at the start of cut-in, the cut-in distance is the distance between the target vehicle and the vehicle in the driving direction, and the cut-in time is the time from the start of cut-in to the end of cut-in, the target lane is adjacent to the vehicle lane;
determining a cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance;
determining a cut-in end position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in starting point position;
and generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position and the cut-in end point position.
According to another aspect of the present invention, there is provided a vehicle cut-in scene generation apparatus including:
the system comprises an acquisition module, a judgment module and a processing module, wherein the acquisition module is used for acquiring the speed, a first vehicle position, a cut-in distance and cut-in time of a target vehicle when the target vehicle is cut into a vehicle lane from the target lane, the first vehicle position is the vehicle position at the start of cut-in, the cut-in distance is the distance between the target vehicle and the vehicle in the driving direction, and the cut-in time is the time from the start of cut-in to the end of cut-in, the target lane is adjacent to the vehicle lane;
the first determining module is used for determining a cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance;
the second determination module is used for determining a cut-in end point position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in starting point position;
and the generating module is used for generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position and the cut-in end point position.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor, the computer program being executable by the at least one processor to enable the at least one processor to perform the vehicle cut-in scene generation method of any embodiment of the present invention.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle cut-in scene generation method according to any one of the embodiments of the present invention when executed.
According to the technical scheme of the embodiment of the invention, firstly, when a target vehicle is cut into a vehicle lane from the target lane, the speed, the first vehicle position, the cut-in distance and the cut-in time of the target vehicle are obtained; then determining the cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance; determining the cut-in end point position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in starting point position; and finally, generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position and the cut-in end point position. Through the technical scheme, a tester can construct various vehicle cut-in scenes by modifying any parameters such as the speed, the cut-in distance and the cut-in time of the target vehicle, the problem that simulation test scenes need to be generated depending on actual test environments in the prior art is solved, and the automatic test system has the advantages that the test scenes are convenient to construct, and automatic tests are easy to realize.
It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, 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 flowchart of a vehicle cut-in scene generation method according to an embodiment of the present invention;
FIG. 2a is a flowchart of a vehicle cut-in scene generation method according to a second embodiment of the present invention;
fig. 2b is a diagram of a vehicle cut-in scene implementation process according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a vehicle cut-in scene generation device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device implementing an embodiment of the invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example one
Fig. 1 is a flowchart of a vehicle cut-in scene generation method according to an embodiment of the present invention, where the present embodiment is applicable to a situation where multiple vehicle cut-in scenes are generated, and the method may be executed by a vehicle cut-in scene generation device, where the vehicle cut-in scene generation device may be implemented in a form of hardware and/or software, and the vehicle cut-in scene generation device may be configured in a computer device such as a server. As shown in fig. 1, the method includes:
s110, when the target vehicle is cut into the own vehicle lane from the target lane, the speed, the first own vehicle position, the cut-in distance and the cut-in time of the target vehicle are obtained.
The vehicle cut-in scene generation method provided by the embodiment of the invention is mainly applied to the situation that a target vehicle is switched to a vehicle lane from a running target lane during automatic driving, wherein the target lane and the vehicle lane are adjacent lanes, a vehicle (simply called a vehicle in the embodiment) normally runs on the vehicle lane, and when the target vehicle is cut into the vehicle lane from the target lane, the vehicle on the vehicle lane needs to make a corresponding decision according to the change situation of the vehicle ahead, so that the driving safety of the vehicle is ensured. Illustratively, the current decision may be: whether the vehicle needs to decelerate, the speed reduction amount, and the like.
Therefore, in order to determine the speed change of the host vehicle in a scene where the target vehicle cuts into the host vehicle lane from the target lane, it is necessary to acquire parameters such as the speed of the target vehicle, the first host vehicle position, the cutting distance, and the cutting time.
The speed of the target vehicle is the speed of the target vehicle when the target vehicle cuts into the own lane, and the speed of the target vehicle may be obtained by, for example, when the target vehicle needs to cut into the right lane, obtaining the moving distance of the target vehicle within one second or two seconds when the target vehicle turns on the right turn light, so as to obtain the speed of the target vehicle.
The first vehicle position is a driving position of the vehicle on the vehicle lane when the cut-in of the target vehicle starts, the current first vehicle position obtaining mode may be that a left direction perpendicular to a road advancing direction is an X axis of a geodetic coordinate system, the road advancing direction is a Y axis of the geodetic coordinate system, the first vehicle position includes a first vehicle abscissa and a first vehicle ordinate of the first vehicle in the coordinate system, and thus the first vehicle position is obtained in the geodetic coordinate system.
The cut-in distance is a distance between the target vehicle and the host vehicle in a driving direction, that is, a horizontal distance between the host vehicle and the target vehicle in the driving direction and an adjacent lane when the target vehicle is cut in, and further, the current cut-in distance may be a distance between a head of the host vehicle and a tail of the target vehicle.
The cut-in time is used from the start of cut-in to the end of cut-in, that is, represents the time taken for the target vehicle to cut into the lane from the target lane to the host vehicle.
The speed, the first self-parking position, the cut-in distance and the cut-in time of the target vehicle are set in software according to actual requirements of testers, and therefore the cut-in starting point position and the cut-in end point position of the target vehicle can be conveniently determined in the subsequent steps.
And S120, determining the cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance.
The cut-in start point position of the target vehicle indicates a position at which the target vehicle is ready to cut into the own vehicle lane from the target lane, the current cut-in start point position includes a cut-in abscissa and a cut-in ordinate, and the cut-in start point position of the target vehicle is calculated by obtaining the first own vehicle abscissa and the first own vehicle ordinate of the first own vehicle position and the cut-in distance through step S110.
In the geodetic coordinate system, the cut-in starting point position of the target vehicle may be determined by: the cutting-in starting point abscissa of the target vehicle can be determined by adding the width of the road on the basis of the first vehicle abscissa; and adding the cut-in distance on the basis of the first vehicle ordinate to determine the cut-in starting point ordinate of the target vehicle.
Further, in order to make the determined cutting-in starting point vertical coordinate of the target vehicle more accurate, the influence of the vehicle length of the own vehicle and the target vehicle in the coordinate system needs to be considered. If the determined vehicle position takes the center of the vehicle as a coordinate point, the cut-in ordinate may be the first vehicle ordinate plus the cut-in distance plus the average of the vehicle length and the target vehicle length; if the head of the vehicle is taken as a coordinate point, the longitudinal coordinate of the cutting-in starting point can be the length of the target vehicle added by the cutting-in distance added by the first vehicle longitudinal coordinate; if the tail of the vehicle is taken as the coordinate point, the vertical coordinate of the cutting-in starting point may be the first vertical coordinate of the vehicle plus the cutting-in distance plus the length of the vehicle, and the specific calculation method of the vertical coordinate of the cutting-in starting point is not limited herein.
And S130, determining the cutting-in end point position of the target vehicle according to the cutting-in time, the speed of the target vehicle and the cutting-in starting point position.
The cut-in end position of the target vehicle represents a position at which the cut-in of the target vehicle has been completed when the target vehicle cuts in from the target lane to the own vehicle lane, the current cut-in end position includes a cut-in end abscissa and a cut-in end ordinate, the cut-in time and the speed of the target vehicle that can be obtained by step S110, and the cut-in start point position of the target vehicle obtained by step S120 determine the cut-in end position of the target vehicle.
In the coordinate system of the earth, the cut-in end point position of the target vehicle may be determined by: the cutting-in end point abscissa of the target vehicle can be determined by subtracting the width of the road on the basis of the cutting-in start point abscissa, and it is easy to understand that when the target vehicle is at the cutting-in end point position, the target vehicle and the vehicle are both in the vehicle road, so the cutting-in end point abscissa is equal to the first vehicle abscissa; the cut-in end point ordinate can be determined by adding the product of the cut-in time and the speed of the target vehicle to the cut-in start point ordinate.
The purpose of calculating the cut-in end point position is to ensure safe driving of the vehicle by simulating a speed change of the vehicle when the target vehicle is cut into the end point position, because the vehicle normally travels in the vehicle lane while the target vehicle is cut into the vehicle lane from the target lane.
And S140, generating a vehicle cut scene according to the speed of the target vehicle, the first vehicle position, the cut distance, the cut time, the cut starting point position and the cut ending point position.
The speed of the self-vehicle can be controlled according to the vehicle cut-in scene so as to ensure the driving safety; or the vehicle cut-in scenario may also implement other functions, which is not limited in this embodiment of the present invention.
The simulation test environment provided by the embodiment of the invention has the advantages of simple construction, convenience, rapidness and the like, and the number of parameters for modifying the simulation test environment each time is not limited, so that the actual requirements of the tester are met.
The vehicle cut-in scene generation method provided by the embodiment of the invention comprises the steps of firstly, when a target vehicle is cut into a vehicle lane from a target lane, acquiring the speed, a first vehicle position, a cut-in distance and cut-in time of the target vehicle; then determining the cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance; determining a cut-in end point position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in starting point position; and finally, generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position and the cut-in end point position. Through the technical scheme, a tester can construct various vehicle cut-in scenes by modifying any parameters such as the speed, the cut-in distance and the cut-in time of the target vehicle, the problem that simulation test scenes need to be generated depending on actual test environments in the prior art is solved, and the automatic test system has the advantages that the test scenes are convenient to construct, and automatic tests are easy to realize.
Example two
Fig. 2a is a flowchart of a vehicle cut-in scene generation method provided in the second embodiment of the present invention, and this embodiment further details some steps of the foregoing embodiment on the basis of the foregoing embodiment. As shown in fig. 2a, the method comprises:
s210, when the target vehicle is cut into the own vehicle lane from the target lane, the speed, the first own vehicle position, the cut-in distance and the cut-in time of the target vehicle are obtained.
And S220, determining the cutting-in starting point abscissa according to the sum of the first vehicle abscissa and the standard width of the lane.
The first vehicle position comprises a first vehicle horizontal coordinate and a first vehicle vertical coordinate, the cut-in starting position comprises a cut-in starting point horizontal coordinate and a cut-in starting point vertical coordinate, and in the embodiment of the invention, the first vehicle position is represented as A1(X1-init，Y1-init) The starting position of the incision is represented by B1(X1-start-ch，Y1-start-ch)。
When the starting point abscissa is determined according to the sum of the first vehicle abscissa and the standard width of the lane, the standard width of the general lane is different according to the road environment and the speed measurement requirement, the road width value is generally 2.8-3.75 meters, and is specifically divided into 3.75, 3.5, 3.25, 3.0, 2.8 and the likerode。
And S221, determining a cutting-in starting point vertical coordinate according to the first own vehicle vertical coordinate, the cutting-in distance and the sum of the average vehicle length of the own vehicle and the target vehicle.
Let the cutting distance ttc and the length LAThe target vehicle is denoted as LBThen, the average length of the own vehicle and the target vehicle can be expressed as:
in conjunction with the above described cut-in start point abscissa, the cut-in start point position of the target vehicle may be represented by the following expression:
and S230, determining the cutting end point abscissa according to the difference between the cutting start point abscissa and the standard width of the lane.
The plunge destination position includes a plunge destination abscissa and a plunge destination ordinate. The plunge end position is denoted as B2 (X) in the present embodiment2-end，Y2-end) The cut-in start abscissa and the cut-in end abscissa are obtained after the target vehicle cuts in the own vehicle lane from the target lane, and the own vehicle lane and the target lane are adjacent lanes, and therefore, the cut-in end abscissa can be determined according to the difference between the cut-in start abscissa and the standard width of the lane.
Optionally, when the target vehicle cuts into the own vehicle lane, the cutting-in end abscissa is also equal to the first own vehicle abscissa, and the specific expression of the cutting-in end abscissa is not limited herein.
S231, determining the vertical coordinate of the cutting-in end point according to the vertical coordinate of the cutting-in start point and the sum of the products of the cutting-in time and the speed of the target vehicle.
Denote the cut-in time as tchThe speed of the target vehicle is denoted V1Then, in conjunction with the above described cut-in end abscissa, the cut-in end position of the target vehicle may be represented by the following expression:
it should be noted that when obtaining the coordinates corresponding to the cutting-in start position and the cutting-in end position, a curve fitting method can be used to perform curve fitting on the cutting-in trajectory of the target vehicle, so that the cutting-in scene is more refined, and the actual cutting-in requirement is better met.
S240, acquiring the speed of the vehicle, the running time of the vehicle and the target vehicle before the cut-in starts.
After the step S210-the step S231, a vehicle cut-in scene may be generated according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position, and the cut-in ending point position, and further, in order to make the factors considered in the vehicle cut-in scene more comprehensive, the vehicle position before the cut-in of the target vehicle and the position of the target vehicle may be calculated, so that the cut-in scene provided by the embodiment of the present invention may more easily implement the automated simulation test.
It is easy to think that before the target vehicle cuts into the lane of the vehicle, the target vehicle is always in front of the vehicle in the driving direction, and the target vehicle and the vehicle both keep driving at a constant speed for a certain time, and at this time, the vehicle speed can be expressed as V2The travel time of the host vehicle and the target vehicle before the start of the cut-in is represented as tacc。
Wherein the speed V of the bicycle2And a travel time t before the start of the hand-inaccThe target vehicle position before the cut-in and the position of the vehicle before the cut-in are calculated according to the different requirements of the testers and by combining the parameters of the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position, the cut-in ending point position and the like.
And S250, determining a second vehicle position according to the running time, the first vehicle position and the vehicle speed.
The second self-parking position is the self-parking position when the simulation scene starts, and the simulation scene starts to indicate that the simulation scene is triggered to carry out automatic simulation test when the self-vehicle and the target vehicle meet the preset conditions.
The preset condition may be that when the vehicle runs to the second vehicle position, the target vehicle runs to the target vehicle position, or when the distance between the second vehicle position and the target vehicle position satisfies a certain value, the simulation scene may be triggered to start.
The second vehicle position includes a second vehicle abscissa and a second vehicle ordinate, and may be denoted as a2(X2-start-scen，Y2-start-scen)。
In an alternative embodiment, determining the second own vehicle position based on the travel time, the first own vehicle position and the own vehicle speed may be performed by:
a) and determining a second vehicle abscissa according to the first vehicle abscissa.
When the simulation scene begins, the second vehicle position and the first vehicle position are both in the vehicle lane, so that the horizontal coordinate of the second vehicle is equal to the horizontal coordinate of the first vehicle.
b) And determining a second vehicle ordinate according to the difference between the first vehicle ordinate and the product of the travel time and the vehicle speed.
When the vehicle runs from the second position to the first position, the vehicle runs at a constant speed, the second vehicle ordinate can be obtained by calculating the difference between the first vehicle ordinate and the product of the running time and the vehicle speed, and the second vehicle position can be represented by the following expression in combination with the first vehicle abscissa:
and S260, determining the position of the target vehicle when the simulation scene starts according to the cut-in starting point position, the running time and the speed of the target vehicle.
The target vehicle position includes a target vehicle abscissa and a target vehicle ordinate, and the target vehicle position may be represented as B3 (X)3-start-scen，Y3-start-scen)。
In an alternative embodiment, determining the target vehicle position at the beginning of the simulation scenario according to the cut-in start point position, the travel time and the speed of the target vehicle may be implemented by:
a) and determining the abscissa of the target vehicle according to the incision starting point abscissa.
At the start of the simulation scenario, the target vehicle position and the cut-in start point position are both in the target lane, so the cut-in start point abscissa is equal to the target vehicle abscissa.
b) And determining the vertical coordinate of the target vehicle according to the difference between the vertical coordinate of the cut-in starting point and the product of the running time and the speed of the target vehicle.
When the target vehicle is driven at a constant speed from the target vehicle to the cutting start point position, the cutting start point can pass through the ordinate Y1-start-chAnd a travel time taccSpeed V of target vehicle1The difference of the products is calculated to obtain the vertical coordinate of the target vehicle, and the position of the target vehicle can be represented by the following expression in combination with the horizontal coordinate of the target vehicle:
and S270, determining the trigger distance when the simulation scene starts according to the second own vehicle position and the target vehicle position.
The triggering distance is a straight-line distance between the self-vehicle and the target vehicle when the simulation scene starts, namely the triggering distance is expressed when the self-vehicle and the target vehicle are separated from each other, the simulation environment is triggered to carry out automatic test, and the triggering distance can be expressed as Dtrigger。
Optionally, determining the trigger distance at the beginning of the simulation scene according to the second own vehicle position and the target vehicle position may be implemented as follows:
a) and squaring the difference between the second vehicle abscissa and the target vehicle abscissa to obtain a first value.
When the first value is expressed as M, the following relationship is obtained:
M＝(X2-start-scen-X3-start-scen)2 (5)
b) and squaring the difference between the second host vehicle ordinate and the target vehicle ordinate to obtain a second value.
By representing the second numerical value as N, the following relationship is obtained:
N＝(Y2-start-scen-Y3-start-scen)2 (6)
c) and solving the square root of the first numerical value and the second numerical value to determine the trigger distance.
Combining the above equation (5) and equation (6), the following expression can be obtained:
namely:
Dtrigger＝Sqrt((X2-start-scen-X3-+start-scen)2+(Y2-start-scen-Y3-start-scen)2) (8)
and S280, generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position, the cut-in end point position, the vehicle speed, the running time, the second vehicle position, the target vehicle position and the trigger distance.
And generating a complete vehicle cut-in simulation test scene when the vehicle is cut in according to the calculated cut-in starting point position, cut-in end point position, second iche position, target vehicle position and trigger distance of the target vehicle, so as to realize the automatic test of the vehicle cut-in scene.
The speed, the self speed, the cut-in distance, the cut-in time and the running time of the target vehicle can be changed in various combinations according to the diversified requirements of testing personnel, so that the simulation test scene cut in by various vehicles is generated, and the method has the advantages of being simple and convenient in test scene generation and improving the test efficiency.
Optionally, the invention provides a specific embodiment of implementation of the scheme, please refer to fig. 2b, and fig. 2b is a diagram of a process for implementing a vehicle cut-in scene according to a second embodiment of the invention. The vehicle cut-in scene generation method provided by the embodiment of the invention has the following implementation process when carrying out simulation test:
as shown in FIG. 2B, the target vehicle is at target position B3Waiting, the bicycle is driven at a speed V from the position A02Driving to the position A2; when the vehicle reaches the A1 position and the distance between the two vehicles reaches the scene trigger threshold, the target vehicle is at the speed V1Driving to position B1 with time taccDuring which the bicycle moves from the a2 position to the a1 position; when the target vehicle reaches the position B1, the target vehicle cuts into the own vehicle lane to the right, finally reaches the position B2, and the whole cutting process uses tchAnd therefore, the simulation test of vehicle cut-in is completed.
However, the target vehicle does not necessarily wait at a standstill at the target position B3, but the target vehicle may want to assume the position B3 and the speed V1And (4) dynamically driving, and starting a subsequent scene test process when the distance between the two vehicles reaches a scene trigger threshold, wherein the state of the specific target vehicle at the target position B3 is not limited herein.
According to the vehicle cut-in scene generation method provided by the embodiment of the invention, the own vehicle position and the vehicle speed when the target vehicle starts to cut in and the time required for the own vehicle and the target vehicle to run at a constant speed before the target vehicle starts to cut in are given; determining a cut-in starting point position of the target vehicle when the target vehicle starts to cut into the target lane; determining the cut-in end point position of the target vehicle according to the cut-in time of the target vehicle and the cut-in starting point position; further, a second own vehicle position when the simulation scene starts is calculated according to the own vehicle speed and the first own vehicle position, and a target vehicle position where the simulation scene starts is determined according to the cut-in starting point position and the speed of the target vehicle; and calculating the triggering distance according to the second vehicle position and the target vehicle position. By the scheme, the simulation scene is automatically generated by combining the calculated amount. The scheme provided by the embodiment of the invention can generate various test cases in a simulation scene by modifying the speed of the target vehicle, the cut-in distance between the self vehicle and the target vehicle and the cut-in time of the target vehicle, and has the advantages of simple generation of the simulation test scene and improvement of the test efficiency.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a vehicle cut-in scene generation apparatus according to a third embodiment of the present invention. As shown in fig. 3, the apparatus includes: an obtaining module 31, a first determining module 32, a second determining module 33 and a generating module 34, wherein:
the obtaining module 31 is configured to obtain a speed, a first vehicle position, a cut-in distance, and a cut-in time of a target vehicle cutting into a vehicle lane from the target lane, where the first vehicle position is a vehicle position at the start of cut-in, the cut-in distance is a distance between the target vehicle and the vehicle in a traveling direction, and the cut-in time is a time from the start of cut-in to the end of cut-in, where the target lane is adjacent to the vehicle lane;
a first determining module 32, configured to determine a cut-in starting point position of the target vehicle according to the first own vehicle position and the cut-in distance;
the second determining module 33 is configured to determine a cut-in end point position of the target vehicle according to the cut-in time, the speed of the target vehicle, and the cut-in start point position;
a generating module 34, configured to generate a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position, and the cut-in ending point position.
The vehicle cut-in scene generation device provided by the embodiment of the invention firstly acquires the speed, the first own position, the cut-in distance and the cut-in time of the target vehicle when the target vehicle is cut into the own lane from the target lane; then determining the cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance; determining the cut-in end point position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in starting point position; and finally, generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position and the cut-in end point position. Through the technical scheme, the tester can construct various vehicle cut-in scenes by modifying any parameters such as the speed, the cut-in distance and the cut-in time of the target vehicle, the problem that simulation test scenes need to be generated depending on actual test environments in the prior art is solved, and the automatic test system has the advantages that the test scenes are convenient to construct, and the automatic test is easy to realize.
Optionally, the first vehicle position includes a first vehicle abscissa and a first vehicle ordinate, and the cut-in start position includes a cut-in start abscissa and a cut-in start ordinate.
The first determining module 32 is specifically configured to determine the starting point abscissa according to the sum of the first vehicle abscissa and the standard width of the lane; and determining the longitudinal coordinate of the cutting-in starting point according to the first longitudinal coordinate of the vehicle, the cutting-in distance and the sum of the average vehicle length of the vehicle and the target vehicle.
Optionally, the plunge destination position comprises a plunge destination abscissa and a plunge destination ordinate;
the second determining module 33 is specifically configured to determine the cutting-in end abscissa according to a difference between the cutting-in start abscissa and the standard width of the lane; and determining the vertical coordinate of the cut-in end point according to the vertical coordinate of the cut-in start point and the sum of the products of the cut-in time and the speed of the target vehicle.
Optionally, the apparatus further comprises: a third determination module, a fourth determination module, and a fifth determination module, wherein:
the obtaining module 31 is specifically configured to obtain a speed of the vehicle, and a running time of the vehicle and the target vehicle before the start of the cut-in;
a third determining module, configured to determine a second vehicle position according to the driving time, the first vehicle position, and the vehicle speed, where the second vehicle position is a vehicle position at the beginning of the simulation scene;
the fourth determining module is used for determining the position of the target vehicle when the simulation scene starts according to the cut-in starting point position, the running time and the speed of the target vehicle;
a fifth determining module, configured to determine a trigger distance when a simulation scene starts according to the second own vehicle position and the target vehicle position;
a generating module, configured to generate a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in start point position, the cut-in end point position, the vehicle speed, the travel time, the second vehicle position, the target vehicle position, and the trigger distance.
Optionally, the second vehicle position includes a second vehicle abscissa and a second vehicle ordinate;
the third determining module is specifically configured to determine the second vehicle abscissa according to the first vehicle abscissa; and determining the second vehicle ordinate according to the difference between the first vehicle ordinate and the product of the travel time and the vehicle speed.
Optionally, the target vehicle position comprises a target vehicle abscissa and a target vehicle ordinate;
the fourth determining module is specifically configured to determine the target vehicle abscissa according to the cut-in starting point abscissa;
and determining the vertical coordinate of the target vehicle according to the difference between the vertical coordinate of the cut-in starting point and the product of the running time and the speed of the target vehicle.
Optionally, the fifth determining module includes: a first obtaining unit, a second obtaining unit, and a fifth determining unit, wherein:
a first obtaining unit, configured to square a difference between the second vehicle abscissa and the target vehicle abscissa, and obtain a first numerical value;
the second obtaining unit is used for squaring the difference between the second vehicle ordinate and the target vehicle ordinate to obtain a second numerical value;
a fifth determining unit, configured to calculate a square root of the first numerical value and the second numerical value, and determine the trigger distance.
The vehicle cut-in scene generation device provided by the embodiment of the invention can execute the vehicle cut-in scene generation method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
FIG. 4 shows a schematic block diagram of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a Read Only Memory (ROM)12, a Random Access Memory (RAM)13, and the like, wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM)12 or the computer program loaded from a storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data necessary for the operation of the electronic apparatus 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
A number of components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, or the like; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network such as the internet and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, a Digital Signal Processor (DSP), and any suitable processor, controller, microcontroller, or the like. Processor 11 performs the various methods and processes described above, such as the method vehicle cut-in scene generation.
In some embodiments, the method vehicle cut-in scene generation may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method vehicle cut-in scene generation described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured by any other suitable means (e.g., by means of firmware) to perform the method vehicle cut-in scene generation.
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuitry, Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), system on a chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs that are executable and/or interpretable on a programmable system including at least one programmable processor, which may be special or general purpose, receiving data and instructions from, and transmitting data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be performed. A computer program can execute entirely on a machine, partly on a machine, as a stand-alone software package partly on a machine and partly on a remote machine or entirely on a remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic, speech, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a back-end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back-end, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), Wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS service are overcome.
It should be understood that various forms of the flows shown above may be used, with steps reordered, added, or deleted. For example, the steps described in the present invention may be executed in parallel, sequentially, or in different orders, and are not limited herein as long as the desired results of the technical solution of the present invention can be achieved.
The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A vehicle cut-in scene generation method, comprising:
when a target vehicle is cut into a vehicle lane from a target lane, acquiring the speed, a first vehicle position, a cut-in distance and a cut-in time of the target vehicle, wherein the first vehicle position is the vehicle position at the start of cut-in, the cut-in distance is the distance between the target vehicle and the vehicle in the driving direction, and the cut-in time is the time from the start of cut-in to the end of cut-in, the target lane is adjacent to the vehicle lane;
determining a cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance;
determining a cut-in end position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in starting point position;
and generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position and the cut-in end point position.
2. The method of claim 1, wherein the first host location comprises a first host abscissa and a first host ordinate, and the plunge start location comprises a plunge start abscissa and a plunge start ordinate;
determining a cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance, wherein the cut-in starting point position comprises the following steps:
determining the horizontal coordinate of the cut-in starting point according to the sum of the horizontal coordinate of the first vehicle and the standard width of the lane;
and determining the longitudinal coordinate of the cutting-in starting point according to the first longitudinal coordinate of the vehicle, the cutting-in distance and the sum of the average vehicle length of the vehicle and the target vehicle.
3. The method of claim 2, wherein the plunge endpoint location comprises a plunge endpoint abscissa and a plunge endpoint ordinate;
determining a cut-in end position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in start position, comprising:
determining the cutting-in end point abscissa according to the difference between the cutting-in start point abscissa and the standard width of the lane;
and determining the vertical coordinate of the cutting-in end point according to the vertical coordinate of the cutting-in start point and the sum of the products of the cutting-in time and the speed of the target vehicle.
4. The method of claim 1, wherein after determining the cut-in end position of the target vehicle, the method further comprises:
acquiring the speed of the vehicle, the running time of the vehicle and the target vehicle before the start of cut-in;
determining a second vehicle position according to the driving time, the first vehicle position and the vehicle speed, wherein the second vehicle position is the vehicle position when a simulation scene begins;
determining the position of the target vehicle when the simulation scene starts according to the cut-in starting point position, the running time and the speed of the target vehicle;
determining a trigger distance when a simulation scene starts according to the second own vehicle position and the target vehicle position;
correspondingly, the generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position, and the cut-in ending point position includes:
generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in start position, the cut-in end position, the vehicle speed, the travel time, the second vehicle position, the target vehicle position, and the trigger distance.
5. The method of claim 4, wherein the second vehicle location comprises a second vehicle abscissa and a second vehicle ordinate;
determining a second vehicle position according to the travel time, the first vehicle position and the vehicle speed, and comprising:
determining the second vehicle abscissa according to the first vehicle abscissa;
and determining the second vehicle ordinate according to the difference between the first vehicle ordinate and the product of the travel time and the vehicle speed.
6. The method of claim 5, wherein the target vehicle position comprises a target vehicle abscissa and a target vehicle ordinate;
determining the position of the target vehicle when the simulation scene starts according to the cut-in starting point position, the running time and the speed of the target vehicle, wherein the step comprises the following steps:
determining the abscissa of the target vehicle according to the incising starting point abscissa;
and determining the vertical coordinate of the target vehicle according to the difference between the vertical coordinate of the cut-in starting point and the product of the running time and the speed of the target vehicle.
7. The method of claim 6, wherein determining a trigger distance at the start of a simulation scenario from the second host vehicle location and the target vehicle location comprises:
squaring the difference between the second vehicle abscissa and the target vehicle abscissa to obtain a first numerical value;
squaring the difference between the second vehicle ordinate and the target vehicle ordinate to obtain a second numerical value;
and solving the square root of the first numerical value and the second numerical value to determine the trigger distance.
8. A vehicle cut-in scene generation device, characterized by comprising:
the vehicle-mounted control system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring the speed, a first vehicle position, a cut-in distance and cut-in time of a target vehicle when the target vehicle is cut into a vehicle lane from the target lane, the first vehicle position is the vehicle position at the start of cut-in, the cut-in distance is the distance between the target vehicle and the vehicle in the driving direction, and the cut-in time is the time from the start of cut-in to the end of cut-in, the target lane is adjacent to the vehicle lane;
the first determining module is used for determining a cut-in starting point position of the target vehicle according to the first vehicle position and the cut-in distance;
the second determining module is used for determining a cut-in end point position of the target vehicle according to the cut-in time, the speed of the target vehicle and the cut-in starting point position;
and the generating module is used for generating a vehicle cut-in scene according to the speed of the target vehicle, the first vehicle position, the cut-in distance, the cut-in time, the cut-in starting point position and the cut-in end point position.
9. An electronic device, characterized in that the electronic device comprises:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle cut-in scene generation method of any one of claims 1-7.
10. A computer-readable storage medium storing computer instructions for causing a processor to implement the vehicle cut-in scene generation method of any one of claims 1-7 when executed.
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