CN114675560A - Driving simulation system, method, device, computer equipment and storage medium - Google Patents
Driving simulation system, method, device, computer equipment and storage medium Download PDFInfo
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Abstract
The present application relates to a simulated driving system, method, apparatus, computer device, storage medium and computer program product. Relates to the technical field of driving simulation equipment. The driving simulation system comprises a plurality of driving simulation platforms and a control device, wherein the driving simulation platforms are used for simulating the driving of a vehicle; the control device is used for acquiring simulated vehicle data of each simulated driving platform, and the simulated vehicle data comprises vehicle dynamics data and vehicle running data; the control device is also used for acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, and the simulated relative driving data is used for representing at least one of simulated relative positions, simulated relative speeds and simulated relative accelerations among the plurality of simulated driving platforms in the simulated driving process; and the control device is also used for obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data. By adopting the method, the driving simulation precision under the situation of multiple vehicles and multiple users can be improved.
Description
Technical Field
The present application relates to the field of driving simulation equipment technology, and in particular, to a driving simulation system, method, apparatus, computer device, storage medium, and computer program product.
Background
The development of the intelligent networking technology, the car networking, the automatic driving and the cloud platform become the development hotspots of the car technology, and the vigorous development of the intelligent networking car technology undoubtedly has higher and higher requirements on the accuracy and the reliability of the driving simulation system. The driving simulation system with high simulation accuracy and high simulation reliability needs an economically applicable driving simulation platform and a safe integrated simulation data management cloud platform to better meet the simulation test requirements under the background of vigorous development of intelligent network key technologies such as car networking, automatic driving, cloud platforms and the like.
However, when the existing simulation driving is simulated in a multi-vehicle and multi-user simulation scene, the simulation precision is low and the data reliability is poor.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a driving simulation system, a method, an apparatus, a computer device, a computer readable storage medium, and a computer program product capable of improving the driving simulation accuracy.
In a first aspect, the present application provides a simulated driving system.
The driving simulation system comprises a plurality of driving simulation platforms and a control device, wherein the driving simulation platforms are used for simulating the running of a vehicle;
the control device is used for acquiring simulated vehicle data of each simulated driving platform, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle driving data;
the control device is also used for acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, and the simulated relative driving data is used for representing at least one of simulated relative positions, simulated relative speeds and simulated relative accelerations among the plurality of simulated driving platforms in the simulated driving process;
and the control device is also used for obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data.
In one embodiment, the control device is arranged among the plurality of driving simulation platforms and is connected with each driving simulation platform;
or the control device is a cloud server which is in communication connection with each simulation driving platform;
alternatively, the control device is built in the simulated driving platform.
In one embodiment, the plurality of simulated driving platforms comprise a first simulated driving platform, the first simulated driving platform is controlled by a driver to perform simulated vehicle driving, and the simulated vehicle data of the first simulated driving platform further comprises driving operation data generated by the driver;
And the control device is specifically used for obtaining a simulation result aiming at the driving operation data according to the simulated vehicle data and the simulated relative running data of the first simulated driving platform.
In one embodiment, the control device is further configured to generate a simulated road image according to the simulated relative driving data, and send the simulated road image to the first simulated driving platform, so that the first simulated driving platform presents the simulated road image to the driver.
In one embodiment, the plurality of simulated driving platforms further comprises a second simulated driving platform, and the second simulated driving platform simulates the driving of the vehicle according to an automatic driving algorithm;
and the control device is specifically used for obtaining a simulation result aiming at the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second simulated driving platform.
In one embodiment, the simulated driving system further comprises a data storage device;
the data storage device is a cloud server and is used for storing each simulated vehicle data, the simulated relative driving data and the simulated simulation result.
In one embodiment, the control device is further used for acquiring simulated road data;
And the control device is specifically used for obtaining a simulation result according to the simulated vehicle data, the simulated relative driving data and the simulated road data.
In a second aspect, the present application provides a method of simulating driving. The method comprises the following steps:
acquiring simulated vehicle data of each simulated driving platform, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle running data;
acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, wherein the simulated relative driving data is used for representing at least one of simulated relative positions, simulated relative speeds and simulated relative accelerations among the plurality of simulated driving platforms in the simulated driving process;
and obtaining a simulation result according to the simulation vehicle data and the simulation relative driving data.
In one embodiment, obtaining simulation results according to each simulated vehicle data and the simulated relative driving data comprises:
and obtaining a simulation result aiming at the driving operation data according to the simulation vehicle data and the simulation relative driving data of the first simulation driving platform, wherein the first simulation driving platform is controlled by the driver to simulate the driving of the vehicle, and the simulation vehicle data of the first simulation driving platform also comprises the driving operation data generated by the driver control.
In one embodiment, obtaining simulation results according to each simulated vehicle data and the simulated relative driving data comprises:
and obtaining a simulation result aiming at the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second simulated driving platform, and simulating the vehicle driving by the second simulated driving platform according to the automatic driving algorithm.
In one embodiment, the method further comprises:
and acquiring simulated road data, and acquiring a simulation result according to the simulated vehicle data, the simulated relative driving data and the simulated road data.
In a third aspect, the application also provides a driving simulation device. The device comprises:
the vehicle data acquisition module is used for acquiring simulated vehicle data of each simulated driving platform, and the simulated vehicle data comprises vehicle dynamics data and vehicle running data;
the relative data acquisition module is used for acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, and the simulated relative driving data is used for representing at least one of simulated relative positions, simulated relative speeds and simulated relative accelerations among the plurality of simulated driving platforms in the simulated driving process;
And the driving simulation module is used for obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data.
In one embodiment, the driving simulation module is further configured to obtain a simulation result for the driving operation data according to the simulated vehicle data and the simulated relative driving data of the first simulated driving platform, where the first simulated driving platform is controlled by the driver to simulate the driving of the vehicle, and the simulated vehicle data of the first simulated driving platform further includes the driving operation data generated by the driver control.
In one embodiment, the driving simulation module is further configured to obtain a simulation result for the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second driving simulation platform, and the second driving simulation platform simulates driving of the vehicle according to the automatic driving algorithm.
In one embodiment, the driving simulation module is further configured to obtain simulated road data, and obtain a simulation result according to each simulated vehicle data, the simulated relative driving data, and the simulated road data.
In a fourth aspect, the application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the method of any of the first aspects described above when the processor executes the computer program.
In a fifth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the method of any of the first aspects described above.
In a sixth aspect, the present application further provides a computer program product. The computer program product comprising a computer program that when executed by a processor implements the method of any of the first aspects described above.
The driving simulation system comprises a plurality of driving simulation platforms and a control device, wherein the driving simulation platforms are used for simulating the running of a vehicle; the control device is used for acquiring simulated vehicle data of each simulated driving platform, and the simulated vehicle data comprises vehicle dynamics data and vehicle running data; the control device is also used for acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, and the simulated relative driving data is used for representing at least one of simulated relative positions, simulated relative speeds and simulated relative accelerations among the plurality of simulated driving platforms in the simulated driving process; and the control device is also used for obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data. The control device processes the simulated vehicle data of the plurality of simulated driving platforms to obtain simulated relative driving data, and driving simulation results participated by the plurality of simulated driving platforms are obtained according to the simulated relative driving data, so that the driving simulation precision under the multi-vehicle and multi-user situations can be improved.
Drawings
FIG. 1 is a diagram of an exemplary driving simulation system;
FIG. 2 is a schematic diagram of a simulated driving system according to an embodiment;
FIG. 3 is a schematic structural diagram of a simulated driving platform according to an embodiment;
FIG. 4 is a schematic flow chart diagram of a method of simulating driving in one embodiment;
FIG. 5 is a schematic flow chart of a simulated driving method according to another embodiment;
FIG. 6 is a block diagram showing a structure of a driving simulation apparatus according to an embodiment;
FIG. 7 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The driving simulation system provided by the embodiment of the application can be applied to the application environment shown in fig. 1. Wherein the plurality of simulated driving platforms 102 communicate with the control device 104 through a wired connection or a network. The data storage device may store data that the control device 104 needs to process. The data storage device may be integrated on the control device 104, or may be configured on the cloud or other network control device in communication with the control device 104. The driving simulation platform 102 may be, but not limited to, various independent driving simulation devices, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices, in which driving simulation software is installed, and the internet of things devices may be smart televisions, smart vehicle-mounted devices, and the like. The portable wearable device may be a smart watch, a head-mounted device, or the like. The control device 104 may be implemented by a separate server or a server cluster composed of a plurality of servers.
In one embodiment, a simulated driving system is provided, the simulated driving system comprising a plurality of simulated driving platforms 102 and a control device 104, the simulated driving platforms 102 being used for simulating vehicle driving, comprising:
the control device 104 is used for acquiring simulated vehicle data of each simulated driving platform 102, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle running data;
the control device 104 is further configured to obtain simulated relative driving data among the plurality of simulated driving platforms 102 during the simulated driving, wherein the simulated relative driving data is used for representing at least one of a simulated relative position, a simulated relative speed and a simulated relative acceleration among the plurality of simulated driving platforms 102 during the simulated driving;
the control device 104 is further configured to obtain a simulation result based on each of the simulated vehicle data and the simulated relative travel data.
The vehicle dynamics data are used for representing relevant parameters corresponding to different vehicle types in reality, and the different vehicle dynamics data are used for constructing virtual vehicles of different vehicle types. The vehicle travel data is used to characterize the travel of the virtual vehicle, including travel speed, travel acceleration, travel direction, and the like. The simulated relative driving data are used for representing the driving condition difference among a plurality of virtual vehicles, the simulated relative driving data reflect sensor data of various types of vehicles in multiple directions in reality, and the distance between each virtual vehicle in one virtual road scene, the following condition, the overtaking condition, the meeting condition and the like can be reflected through the simulated relative driving data.
Optionally, vehicle dynamics data are configured in advance for each driving simulation platform 102, the vehicle dynamics data are determined according to the model of the vehicle to be simulated, and the vehicle dynamics data configured for each driving simulation platform 102 may be the same or different. After each of the simulated driving platforms 102 acquires the automatic driving algorithm or acquires the driving operation data directly input by the user at the simulated driving platform 102, each of the simulated driving platforms 102 generates the vehicle driving data corresponding thereto. The autopilot algorithm may be located on each of the simulated driving platforms 102, or may be located on another terminal or server in communication with each of the simulated driving platforms 102.
Further, during the simulated driving, the control device 104 recognizes the simulated driving platforms 102 in the normal working state, and obtains vehicle dynamics data and vehicle driving data of the simulated driving platforms 102, the control device 104 processes the vehicle dynamics data and the vehicle driving data to obtain simulated relative driving data between the simulated driving platforms 102, and based on the data, the control device 104 can generate one virtual vehicle and a virtual driving situation of the virtual vehicle for each simulated driving platform 102, and output the virtual vehicles corresponding to all the simulated driving platforms 102 and the corresponding virtual driving situations as a simulated simulation result.
In the driving simulation system, the driving simulation system comprises a plurality of driving simulation platforms 102 and a control device 104, wherein the driving simulation platforms 102 are used for simulating the running of a vehicle; the control device 104 is used for acquiring simulated vehicle data of each simulated driving platform 102, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle driving data; the control device 104 is further configured to obtain simulated relative driving data among the plurality of simulated driving platforms 102 during the simulated driving, wherein the simulated relative driving data is used for representing at least one of a simulated relative position, a simulated relative speed and a simulated relative acceleration among the plurality of simulated driving platforms 102 during the simulated driving; the control device 104 is further configured to obtain a simulation result from each of the simulated vehicle data and the simulated relative travel data. The control device 104 processes the simulated vehicle data of the plurality of simulated driving platforms 102 to obtain simulated relative driving data, and obtains driving simulation results of the plurality of simulated driving platforms 102 according to the simulated relative driving data, so that the driving simulation precision in the multi-vehicle and multi-user situations can be improved.
In one embodiment, the control device is arranged among a plurality of simulated driving platforms and is connected with each simulated driving platform; or the control device is a cloud server which is in communication connection with each simulation driving platform; alternatively, the control device is built in the simulated driving platform.
Optionally, multiple simulated driving platforms may be placed together or in different geographic locations. If a plurality of simulation driving platforms are placed together, then controlling means can be an independent control module, establish communication through wired or wireless mode with every simulation driving platform respectively, controlling means also can directly dispose in high in the clouds server, every simulation driving platform all establishes communication through network and high in the clouds controlling means, controlling means can also configure into a plurality of sub-controlling means, dispose respectively in every simulation driving platform, can establish communication between every sub-controlling means. If a plurality of simulation driving platforms are placed at different geographic positions, the control device can be an independent control module and is communicated with each simulation driving platform through a network, the control device can also be directly configured in the cloud server, and each simulation driving platform is communicated with the cloud control device through the network.
In one possible embodiment, as shown in fig. 2, three platforms, namely, a driving simulation platform 202, a driving simulation platform 203 and a driving simulation platform 204, are configured in the same space and are respectively connected with a general controller 201 in a wired manner, wherein the general controller 201 corresponds to the control device.
In the embodiment, the control device is arranged among the plurality of driving simulation platforms and is connected with each driving simulation platform; or the control device is a cloud server which is in communication connection with each simulation driving platform; alternatively, the control device is built in the simulated driving platform. The data can be processed by adopting a local control device or a cloud control device, and the data reliability of the driving simulation under the multi-vehicle and multi-user situations is improved.
In one embodiment, the plurality of simulated driving platforms includes a first simulated driving platform, the first simulated driving platform is controlled by a driver to perform simulated vehicle driving, and the simulated vehicle data of the first simulated driving platform further includes driving operation data generated by the driver control; and the control device is specifically used for obtaining a simulation result aiming at the driving operation data according to the simulated vehicle data and the simulated relative running data of the first simulated driving platform.
The first simulated driving platform can normally run and is used by a user (driver), and particularly, the user (driver) inputs a driving operation instruction to the simulated driving platform through a driving operation device of the simulated driving platform, wherein the driving operation instruction comprises but is not limited to a straight instruction, a reversing instruction, a steering instruction, an accelerating instruction, a decelerating instruction and a braking instruction.
Optionally, when a user starts to use one simulated driving platform, the simulated driving platform is regarded as a first simulated driving platform, the simulated driving platform recognizes a driving operation instruction input by the user, generates driving operation data, generates vehicle driving data according to vehicle dynamics data and the driving operation data corresponding to the simulated driving platform, and takes the vehicle dynamics data and the vehicle driving data corresponding to the simulated driving platform as simulated vehicle data corresponding to the simulated driving platform. The control device generates simulated relative driving data according to the simulated vehicle data of the first simulated driving platform and the simulated vehicle data of other simulated driving platforms, and accordingly generates a simulation result corresponding to the driving operation data for the first simulated driving platform.
In this embodiment, the plurality of simulated driving platforms include a first simulated driving platform, the first simulated driving platform is controlled by a driver to simulate vehicle running, and the simulated vehicle data of the first simulated driving platform further includes driving operation data generated by the driver; and the control device is specifically used for obtaining a simulation result aiming at the driving operation data according to the simulated vehicle data and the simulated relative running data of the first simulated driving platform. The data accuracy of the simulation of the driving simulation controlled by the driver under the situation of multiple vehicles and multiple users can be improved.
In one embodiment, the control device is further configured to generate a simulated road image according to the simulated relative driving data, and send the simulated road image to the first simulated driving platform, so that the first simulated driving platform presents the simulated road image to the driver.
Optionally, the control device generates a preset virtual road scene, acquires simulated vehicle data of each simulated driving platform, generates simulated relative driving data according to the simulated vehicle data of each simulated driving platform, configures a vehicle distance, a vehicle following condition, a vehicle overtaking condition, a vehicle meeting condition and the like between each virtual vehicle according to the simulated relative driving data, adds the virtual vehicle corresponding to each simulated driving platform into the virtual road scene, generates different simulated road images for each simulated driving platform (i.e., each virtual vehicle), and displays the corresponding simulated road images through the output display device of each simulated driving platform.
In one possible embodiment, as shown in fig. 3, a driving seat 301 is disposed on a simulated driving platform to carry a driver, a visual feedback module 302 (which may be a display screen spliced by three arcs) is disposed to output a simulation result (including at least the simulated road image) for the current simulated driving platform, and a steering wheel 303, a steering gear 304 and a driving pedal 305 (including a clutch, an accelerator and a brake pedal) are disposed to simulate driving, wherein the visual feedback module 302 is disposed to correspond to the output display device, and the steering wheel 303, the steering gear 304 and the driving pedal 305 correspond to the driving operation device.
In one embodiment, the plurality of simulated driving platforms further comprises a second simulated driving platform which simulates vehicle driving according to an automatic driving algorithm; and the control device is specifically used for obtaining a simulation result aiming at the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second simulated driving platform.
The second driving simulation platform can run normally, is not used by a user (driver), and can call an automatic driving algorithm normally. The automatic driving algorithms include, but are not limited to, an intelligent driving formation control algorithm, a lane change overtaking control algorithm, a following cruise control algorithm, an LTE-V multi-user and multi-target complex control algorithm, and the like, and the second simulation driving platform calls different automatic driving algorithms to be capable of executing different types of driving modes, such as formation following driving, side-by-side driving, trail lane change overtaking driving, safe vehicle distance keeping following driving of a front vehicle and the like.
Optionally, when one simulated driving platform is not used by a user and the simulated driving platform can normally call an automatic driving algorithm, the simulated driving platform is regarded as a second simulated driving platform, the simulated driving platform calls the automatic driving algorithm, vehicle driving data is generated according to vehicle dynamics data and the automatic driving algorithm corresponding to the simulated driving platform, and the vehicle dynamics data and the vehicle driving data corresponding to the simulated driving platform are used as simulated vehicle data corresponding to the simulated driving platform. The control device generates simulated relative driving data according to the simulated vehicle data of the second simulated driving platform and the simulated vehicle data of other simulated driving platforms, so that a simulated simulation result corresponding to the automatic driving algorithm is generated for the second simulated driving platform.
In the embodiment, the plurality of driving simulation platforms further comprise a second driving simulation platform, and the second driving simulation platform simulates the driving of the vehicle according to an automatic driving algorithm; and the control device is specifically used for obtaining a simulation result aiming at the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second simulated driving platform. The data accuracy of the simulation driving simulation controlled by the automatic driving algorithm under the multi-vehicle and multi-user situation can be improved.
In one embodiment, the simulated driving system further comprises a data storage device; the data storage device is a cloud server and is used for storing each simulated vehicle data, the simulated relative driving data and the simulated simulation result.
Optionally, the data storage device is configured in the cloud server, so as to prevent loss or damage of local data, and the data storage device is configured to store vehicle dynamics data, vehicle driving data, driving operation data, an automatic driving algorithm, a simulation result, and simulation relative driving data between the plurality of simulated driving platforms, which correspond to the simulated driving platforms.
In one embodiment, the control device is further used for acquiring simulated road data; and the control device is specifically used for obtaining a simulation result according to the simulated vehicle data, the simulated relative driving data and the simulated road data.
Optionally, when the simulated driving is started, the control device first acquires road information, generates simulated road data according to the road information, and subsequently generates a simulated road scene according to the simulated road data when the simulated road image or a simulated simulation result including the simulated road image needs to be generated, and then adds a virtual vehicle to the simulated road scene according to the simulated vehicle data corresponding to each simulated driving platform and the simulated relative driving data between the plurality of simulated driving platforms, and generates the simulated road image after the virtual vehicle is added.
In one embodiment, a simulated driving system as shown in fig. 2 is provided, and the simulated driving system includes three simulated driving platforms, namely a simulated driving platform 202, a simulated driving platform 203 and a simulated driving platform 204, which are configured in the same space and are respectively connected with a general controller 201 by wires. Wherein the overall controller 201 corresponds to the control device 104.
The driving simulation system is used for simulating the formation driving conditions of three automobiles, the formation driving algorithm function of the system can be verified while the user simulates driving, and for a more vivid simulation effect, the driving simulation platform 202 is arranged on a first row right lane, the driving simulation platform 203 is arranged on a second row left lane, and the driving simulation platform 204 is arranged on a second row right lane. The formation driving algorithm corresponds to an automatic driving algorithm.
The master controller 201 builds a simulated road scene (the simulated road scene includes but is not limited to environment, vehicles, identification, buildings, pedestrians and the like), vehicle dynamics data of three platforms are added, three virtual vehicles are built, one-to-one matching is carried out on the three virtual vehicles and the three platforms, a simulated vehicle A corresponds to a simulated driving platform 202, a simulated vehicle B corresponds to a simulated driving platform 203, and a simulated vehicle C corresponds to a simulated driving platform 204. And respectively setting a virtual radar and a virtual camera sensor for the three virtual vehicles, and acquiring virtual road condition information (including but not limited to a front vehicle distance, a self vehicle speed, a target vehicle speed, a self acceleration, a target acceleration, predicted collision time and the like) corresponding to each virtual vehicle.
The master controller 201 sets a formation driving algorithm for the simulated driving platform 202 and the simulated driving platform 204, the simulated vehicle A is guided to drive, and the simulated vehicle C keeps a safe vehicle distance to follow the simulated vehicle A to drive. When the driver A starts to control the simulated driving platform 202, the simulated driving platform 202 finishes calling the formation driving algorithm, and when the driver A controls the simulated vehicle A to finish the conventional driving operations such as straight road, curve, meeting, lane changing and the like, the formation driving algorithm controls the simulated vehicle C to keep following the simulated vehicle A and keep the following distance set in the formation driving algorithm. When the driver C starts to control the simulated driving platform 204, the simulated driving platform 204 finishes invoking the formation driving algorithm, that is, the simulated vehicle C exits the formation driving mode, and the driver C controls the simulated vehicle C to perform the simulated driving.
The general controller 201 sets other types of automatic driving algorithms for the simulated driving platform 203, for example, sets a dangerous driving algorithm, and the simulated driving platform 203 invokes the dangerous driving algorithm to set static and dynamic different vehicle speeds and lane-change driving for the simulated vehicle B to interfere formation driving of the simulated vehicle a and the simulated vehicle C, such as: the lane is suddenly stopped or has a temporary fault, the adjacent lanes are quickly changed and are added with a pilot vehicle, the adjacent lanes are inserted into a formation to run (under the condition that the formation set distance is larger), the lane departure line of the adjacent lanes is close to a certain simulated vehicle of the fleet, and the like. When the driver B starts to control the simulated driving platform 203, the simulated driving platform 203 finishes invoking the dangerous driving algorithm.
The general controller 201 generates a simulation result for the simulated driving platform 202 for the simulated driving situation of the simulated vehicle a, a simulation result for the simulated driving platform 203 for the simulated driving situation of the simulated vehicle B, a simulation result for the simulated driving platform 204 for the simulated driving situation of the simulated vehicle C, and verifies the formation algorithm function, the driver take-over logic, the driver's driving operation, and the like based on these simulation results. .
The main controller 201 can also communicate with the cloud data management module through a network, and upload the data involved in the above process to the cloud data management module for storage or further processing.
In one embodiment, as shown in fig. 4, a method of simulating driving, comprises:
and step 406, obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data.
In another embodiment, as shown in fig. 5, a method of simulating driving, includes:
It should be understood that, although the steps in the flowcharts related to the embodiments described above are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not limited to being performed in the exact order illustrated and, unless explicitly stated herein, may be performed in other orders. Moreover, at least a part of the steps in the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.
Based on the same inventive concept, the embodiment of the application also provides a driving simulation device for realizing the driving simulation method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so the specific limitations in one or more embodiments of the driving simulation device provided below can be referred to the limitations on the driving simulation method in the foregoing, and details are not repeated here.
In one embodiment, as shown in fig. 6, there is provided a simulated driving apparatus 600 comprising: a vehicle data acquisition module 601, a relative data acquisition module 602, and a simulated driving simulation module 603, wherein:
the vehicle data acquisition module 601 is used for acquiring simulated vehicle data of each simulated driving platform, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle running data;
a relative data obtaining module 602, configured to obtain simulated relative driving data between the multiple simulated driving platforms during a simulated driving process, where the simulated relative driving data is used to represent at least one of a simulated relative position, a simulated relative velocity, and a simulated relative acceleration between the multiple simulated driving platforms during the simulated driving process;
And the driving simulation module 603 is configured to obtain a simulation result according to each simulated vehicle data and the simulated relative driving data.
In one embodiment, the driving simulation module 603 is further configured to obtain a simulation result for the driving operation data according to the simulated vehicle data of the first simulated driving platform and the simulated relative driving data, the first simulated driving platform is controlled by the driver to simulate the driving of the vehicle, and the simulated vehicle data of the first simulated driving platform further includes the driving operation data generated by the driver control.
In one embodiment, the driving simulation module 603 is further configured to obtain a simulation result for the autopilot algorithm according to the simulated vehicle data and the simulated relative driving data of the second driving simulation platform, and the second driving simulation platform simulates the driving of the vehicle according to the autopilot algorithm.
In one embodiment, the driving simulation module 603 is further configured to obtain simulated road data, and obtain a simulation result according to each of the simulated vehicle data, the simulated relative driving data, and the simulated road data.
The modules in the driving simulation device can be wholly or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 7. The computer apparatus includes a processor, a memory, an input/output interface, a communication interface, a display unit, and an input device. The processor, the memory and the input/output interface are connected by a system bus, and the communication interface, the display unit and the input device are connected by the input/output interface to the system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The input/output interface of the computer device is used for exchanging information between the processor and an external device. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a simulated driving method. The display unit of the computer equipment is used for forming a visual and visible picture, and can be a display screen, a projection device or a virtual reality imaging device, the display screen can be a liquid crystal display screen or an electronic ink display screen, the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 7 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
acquiring simulated vehicle data of each simulated driving platform, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle driving data;
acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, wherein the simulated relative driving data is used for representing at least one of simulated relative positions, simulated relative speeds and simulated relative accelerations among the plurality of simulated driving platforms in the simulated driving process;
and obtaining a simulation result according to the simulation vehicle data and the simulation relative driving data.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
And obtaining a simulation result aiming at the driving operation data according to the simulation vehicle data and the simulation relative driving data of the first simulation driving platform, wherein the first simulation driving platform is controlled by the driver to simulate the driving of the vehicle, and the simulation vehicle data of the first simulation driving platform also comprises the driving operation data generated by the driver control.
In one embodiment, the processor when executing the computer program further performs the steps of:
and obtaining a simulation result aiming at the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second simulated driving platform, and simulating the vehicle driving by the second simulated driving platform according to the automatic driving algorithm.
In one embodiment, the processor when executing the computer program further performs the steps of:
and acquiring simulated road data, and acquiring a simulation result according to the simulated vehicle data, the simulated relative driving data and the simulated road data.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring simulated vehicle data of each simulated driving platform, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle running data;
Acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, wherein the simulated relative driving data is used for representing at least one of simulated relative positions, simulated relative speeds and simulated relative accelerations among the plurality of simulated driving platforms in the simulated driving process;
and obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and obtaining a simulation result aiming at the driving operation data according to the simulation vehicle data and the simulation relative driving data of the first simulation driving platform, wherein the first simulation driving platform is controlled by the driver to simulate the driving of the vehicle, and the simulation vehicle data of the first simulation driving platform also comprises the driving operation data generated by the driver control.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and obtaining a simulation result aiming at the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second simulated driving platform, and simulating the vehicle driving by the second simulated driving platform according to the automatic driving algorithm.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and acquiring simulated road data, and acquiring a simulation result according to the simulated vehicle data, the simulated relative driving data and the simulated road data.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:
acquiring simulated vehicle data of each simulated driving platform, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle running data;
acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, wherein the simulated relative driving data is used for representing at least one of simulated relative positions, simulated relative speeds and simulated relative accelerations among the plurality of simulated driving platforms in the simulated driving process;
and obtaining a simulation result according to the simulation vehicle data and the simulation relative driving data.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and obtaining a simulation result aiming at the driving operation data according to the simulation vehicle data and the simulation relative driving data of the first simulation driving platform, wherein the first simulation driving platform is controlled by the driver to simulate the driving of the vehicle, and the simulation vehicle data of the first simulation driving platform also comprises the driving operation data generated by the driver control.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and obtaining a simulation result aiming at the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second simulated driving platform, wherein the second simulated driving platform simulates the driving of the vehicle according to the automatic driving algorithm.
In one embodiment, the computer program when executed by the processor further performs the steps of:
and acquiring simulated road data, and acquiring a simulation result according to the simulated vehicle data, the simulated relative driving data and the simulated road data.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the relevant laws and regulations and standards of the relevant country and region.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (15)
1. The driving simulation system is characterized by comprising a plurality of driving simulation platforms and a control device, wherein the driving simulation platforms are used for simulating the running of a vehicle;
the control device is used for acquiring simulated vehicle data of each simulated driving platform, and the simulated vehicle data comprises vehicle dynamics data and vehicle running data;
The control device is further used for acquiring simulated relative driving data among the plurality of simulated driving platforms in the simulated driving process, and the simulated relative driving data is used for representing at least one of simulated relative position, simulated relative speed and simulated relative acceleration among the plurality of simulated driving platforms in the simulated driving process;
the control device is further used for obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data.
2. The system of claim 1, wherein the control device is disposed between the plurality of simulated driving platforms and is connected to each of the plurality of simulated driving platforms;
or the control device is a cloud server which is in communication connection with each driving simulation platform;
or the control device is arranged in the simulated driving platform.
3. The simulated driving system of claim 1, wherein the plurality of simulated driving platforms includes a first simulated driving platform controlled by the driver for simulated vehicle travel, the simulated vehicle data for the first simulated driving platform further including driving operation data generated by the driver control;
The control device is specifically configured to obtain a simulation result for the driving operation data according to the simulated vehicle data of the first simulated driving platform and the simulated relative driving data.
4. The system of claim 3, wherein the control device is further configured to generate a simulated road image according to the simulated relative driving data, and send the simulated road image to the first simulated driving platform, so that the first simulated driving platform presents the simulated road image to the driver.
5. The system of claim 1 or 3, wherein the plurality of simulated driving platforms further comprises a second simulated driving platform that simulates vehicle travel according to an autopilot algorithm;
the control device is specifically configured to obtain a simulation result for the automatic driving algorithm according to the simulated vehicle data of the second simulated driving platform and the simulated relative driving data.
6. The simulated driving system of claim 1, further comprising a data storage device;
The data storage device is a cloud server and is used for storing the simulated vehicle data, the simulated relative driving data and the simulated simulation result.
7. The simulated driving system of claim 1, wherein said control means is further configured to obtain simulated road data;
the control device is specifically configured to obtain the simulation result according to each of the simulated vehicle data, the simulated relative driving data, and the simulated road data.
8. A method of simulating driving, the method comprising:
acquiring simulated vehicle data of each simulated driving platform, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle running data;
acquiring simulated relative driving data among a plurality of simulated driving platforms in the simulated driving process, wherein the simulated relative driving data is used for representing at least one of simulated relative position, simulated relative speed and simulated relative acceleration among the plurality of simulated driving platforms in the simulated driving process;
and obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data.
9. The simulated driving method according to claim 8, wherein said obtaining a simulation result from each of said simulated vehicle data and said simulated relative travel data comprises:
and obtaining a simulation result aiming at the driving operation data according to the simulation vehicle data and the simulation relative driving data of a first simulation driving platform, wherein the first simulation driving platform is controlled by a driver to simulate the driving of the vehicle, and the simulation vehicle data of the first simulation driving platform also comprises the driving operation data generated by the driver control.
10. The simulated driving method according to claim 8 or 9, wherein said obtaining a simulation result from each of the simulated vehicle data and the simulated relative travel data includes:
and obtaining a simulation result aiming at the automatic driving algorithm according to the simulated vehicle data and the simulated relative driving data of the second simulated driving platform, wherein the second simulated driving platform simulates the driving of the vehicle according to the automatic driving algorithm.
11. The simulated driving method of claim 8, further comprising:
and acquiring simulated road data, and acquiring the simulated simulation result according to the simulated vehicle data, the simulated relative driving data and the simulated road data.
12. A driving simulation apparatus, characterized in that the apparatus comprises:
the vehicle data acquisition module is used for acquiring simulated vehicle data of each simulated driving platform, wherein the simulated vehicle data comprises vehicle dynamics data and vehicle driving data;
the relative data acquisition module is used for acquiring simulated relative driving data among a plurality of simulated driving platforms in the simulated driving process, and the simulated relative driving data is used for representing at least one of simulated relative position, simulated relative speed and simulated relative acceleration among the plurality of simulated driving platforms in the simulated driving process;
and the driving simulation module is used for obtaining a simulation result according to the simulated vehicle data and the simulated relative driving data.
13. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 8 to 11 when executing the computer program.
14. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 8 to 11.
15. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 8 to 11 when executed by a processor.
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