CN114780646A

CN114780646A - Vehicle processing method, device, computer equipment and storage medium

Info

Publication number: CN114780646A
Application number: CN202210378157.2A
Authority: CN
Inventors: 杜海宁
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2022-04-12
Filing date: 2022-04-12
Publication date: 2022-07-22
Also published as: WO2023198016A1

Abstract

The embodiment of the application discloses a vehicle processing method, a vehicle processing device, computer equipment and a storage medium, which can be applied to the field of automatic driving; the method comprises the following steps: determining a departure area of the departure point from the road area according to a reference point of the departure point in the road area; when the departure time of the departure point arrives, controlling the departure point to generate traffic vehicles according with traffic laws in the departure area according to a traffic basic diagram; wherein the traffic basic map is used for describing the relationship among the traffic flow, the traffic density and the speed in the traffic network. The embodiment of the application can automatically and continuously generate the traffic vehicles according with the traffic laws in the designated area, and the reasonability and the vehicle setting efficiency of the traffic vehicles are improved.

Description

Vehicle processing method, device, computer equipment and storage medium

Technical Field

The present application relates to the field of internet technologies, and in particular, to a method and an apparatus for processing a vehicle, a computer device, and a storage medium.

Background

In simulation scenarios such as automated driving simulation, it is often necessary to place background traffic vehicles that continue into the simulation system in a map to verify the decision-making algorithm of the test vehicle in the traffic flow. The test vehicle is a simulation vehicle carrying a decision algorithm (or called an automatic driving algorithm) to be tested and verified, and may be a main vehicle or other vehicles in a simulation scene, which is not limited herein; background transportation vehicles, which may be referred to simply as transportation vehicles, refer to other vehicles used in a simulation scenario to influence the driving decision behavior of a test vehicle. At present, a user usually adds a plurality of transportation vehicles manually in sequence, and defines the driving behaviors of the transportation vehicles respectively; such manual vehicle setting may cause traffic vehicles generated by users to be inconsistent with traffic laws and cause inefficiency due to cumbersome operations.

Disclosure of Invention

The embodiment of the application provides a vehicle processing method, a vehicle processing device, computer equipment and a storage medium, which can automatically and continuously generate traffic vehicles according with traffic laws in a designated area, and improve the reasonability of the traffic vehicles and the vehicle setting efficiency.

In one aspect, an embodiment of the present application provides a vehicle processing method, where the method includes:

determining a departure area of the departure point from the road area according to a reference point of the departure point in the road area;

when the departure time of the departure point arrives, controlling the departure point to generate traffic vehicles according with traffic laws in the departure area according to a traffic basic diagram; wherein the traffic basic map is used for describing the relationship among the traffic flow, the traffic density and the speed in the traffic network.

In another aspect, an embodiment of the present application provides a vehicle processing apparatus, including:

the determining unit is used for determining the departure area of the departure point from the road area according to the reference point of the departure point in the road area;

the processing unit is used for controlling the departure point to generate traffic vehicles according with traffic laws in the departure area according to the traffic basic map when the departure time of the departure point arrives; wherein the traffic basic map is used for describing the relationship among the traffic flow, the traffic density and the speed in the traffic network.

In another aspect, an embodiment of the present application provides a computer device, where the computer device includes an input interface and an output interface, and the computer device further includes:

a processor adapted to implement one or more instructions; and (c) a second step of,

a computer storage medium storing one or more instructions adapted to be loaded by the processor and to perform the steps of:

when the departure time of the departure point arrives, controlling the departure point to generate a traffic vehicle according with a traffic rule in the departure area according to a traffic basic diagram; wherein the traffic basic map is used for describing the relationship among the traffic flow, the traffic density and the speed in the traffic network.

In yet another aspect, an embodiment of the present application provides a computer storage medium storing one or more instructions, where the one or more instructions are adapted to be loaded by a processor and perform the following steps:

In yet another aspect, an embodiment of the present application provides a computer program product, which includes a computer program; the computer program, when executed by a processor, implements the above-mentioned vehicle processing method.

According to the embodiment of the application, the departure area of the departure point can be determined from the road area according to the reference point of the departure point in the road area, and the departure area can be a circular area determined based on a certain radius by taking the reference point as the center; and controlling the departure point to generate the traffic vehicles in the departure area according to the traffic basic map every time the departure time of the departure point arrives. Since the traffic basic map describes the relationship among the traffic flow, the traffic flow density and the speed in the traffic network, the traffic flow density and the speed corresponding to the traffic vehicles generated by combining the traffic basic map are in accordance with objective traffic laws. Therefore, the embodiment of the application can support the user to automatically and continuously generate some traffic vehicles according with the traffic laws in the traffic area with a certain radius around the fixed position (the reference point) according to the traffic basic map by simply setting some parameters (such as parameters for generating the traffic basic map) so as to effectively improve the rationality of the traffic vehicles and the vehicle setting efficiency.

Drawings

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

FIG. 1a is a schematic view of a traffic basic map provided by an embodiment of the present application;

FIG. 1b is a schematic view of another traffic basic diagram provided by an embodiment of the present application;

FIG. 2 is a schematic flow chart diagram illustrating a vehicle processing method according to an embodiment of the present application;

FIG. 3a is a schematic view of a departure area provided in an embodiment of the present application;

fig. 3b is a schematic diagram illustrating whether the departure area covers a lane according to an embodiment of the present disclosure;

FIG. 3c is a schematic diagram of a vehicle-based center of mass determination of a zone provided by an embodiment of the present application;

FIG. 4 is a schematic flow chart diagram illustrating a vehicle processing method according to another embodiment of the present application;

FIG. 5a is a schematic diagram of a lane center line adjacent to a reference point according to an embodiment of the present disclosure;

FIG. 5b is a schematic diagram of a main lane for determining a departure point according to an embodiment of the present disclosure;

fig. 5c is a schematic diagram of a slave lane for determining a departure point according to an embodiment of the present application;

FIG. 5d is a schematic view of an exit line of a main lane according to an embodiment of the present disclosure;

fig. 5e is a schematic diagram of a partial area in an irrelevant area covered by a departure area according to an embodiment of the present application;

FIG. 5f is a schematic diagram of a lane departure line of a main lane and a lane departure line of a secondary lane according to an embodiment of the present disclosure;

FIG. 5g is a schematic diagram of determining a current location according to an embodiment of the present application;

FIG. 6 is a schematic flow chart of generating traffic vehicles in a departure area according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a vehicle processing device provided in an embodiment of the present application;

fig. 8 is a schematic structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

The embodiments of the present application relate to Artificial Intelligence (AI) technology, which refers to a theory, method, technique, and application system for simulating, extending, and expanding human Intelligence, sensing environment, acquiring knowledge, and using knowledge to obtain optimal results using a digital computer or a machine controlled by a digital computer. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making. The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like.

As artificial intelligence technology has been researched and developed, artificial intelligence technology has been developed and applied in a variety of fields, such as: automatic driving, unmanned, general smart home, intelligent wearing equipment, virtual assistant, intelligent audio amplifier, intelligent marketing, unmanned aerial vehicle, robot, intelligent medical treatment, intelligent customer service, intelligent video service, etc. The automatic driving technology generally comprises automatic driving simulation and real vehicle test (namely, the vehicle is controlled to run on a real lane), and the automatic driving simulation is used as a zero-risk, quick iteration and reproducible test method, so that a solid foundation is laid for the automatic driving technology to go on the road. So-called autopilot simulation, which may also be referred to as road traffic simulation, is an important tool for studying complex traffic problems; especially, when a system is too complex to be described by a simple abstract mathematical model, the traffic simulation effect is more prominent. The automatic driving simulation can clearly assist in analyzing and predicting the sections and reasons of traffic jam, and compare and evaluate the relevant schemes of city planning, traffic engineering and traffic management, so that the problems can be avoided or prepared as much as possible before the problems become realistic. In summary, the traffic simulation technology is a simulation model technology that reflects system behavior or process by applying simulation hardware and simulation software through simulation experiments and by means of some numerical calculations and problem solving.

The embodiment of the application provides a vehicle processing method aiming at automatic driving simulation, traffic simulation or any simulation scene needing to continuously generate traffic vehicles at a specific place. The vehicle processing method can support a user to automatically and continuously generate some traffic vehicles according with traffic laws in a certain radius area around a fixed position through simply setting some parameters (such as traffic density, free flow speed and other parameters for generating a traffic basic map) through the traffic basic map, thereby effectively improving the rationality of the traffic vehicles and the vehicle setting efficiency; in addition, the vehicle processing method also sets a set of rules for generating the traffic vehicles, so that the consistency of the vehicle states of the traffic vehicles generated by different simulation software according to the same scene file is ensured while the diversity of the vehicle states is ensured.

The aforementioned traffic basic map (Fundamental map of traffic flow) may also be referred to as a macro basic map; in traffic flow theory, a traffic basic map may be used to describe the relationship between macroscopic traffic flow (referred to simply as traffic flow), traffic density (or referred to as vehicle density), and speed in a traffic network. Specifically, the traffic basic map may be set in a coordinate system with traffic flow density as a horizontal axis and traffic capacity as a vertical axis; a typical traffic map may be approximated as a triangle formed by two straight line segments and a horizontal axis as shown in fig. 1a, and each point on the straight line segments may represent a traffic state (e.g., traffic capacity, traffic density, speed, etc.) of the vehicle. Wherein the first straight line segment 11 in fig. 1a depicts the free-running state of the vehicle, the slope of which is the free-stream vehicle speed V_max(i.e., the speed of the vehicle, independent of the upstream and downstream conditions, V can be calculated from the example shown in FIG. 1a_max80 km/h). When the flow density increases from 0 to the critical density K_cr(according to the example shown in FIG. 1a, K can be seen_cr25 vehicles/kilometer), the speed of the free stream is constant, but the traffic capacity is gradually increased, and the maximum traffic capacity Q is reached when the density of the traffic stream reaches the critical density_max(according to the example shown in FIG. 1a, Q can be seen_max2000 vehicles/hour). When the density of the traffic flow is increased continuously due to the continuous increase of the vehicles, the speed of the vehicles is gradually reduced, the vehicles enter a congestion state, and the traffic capacity is reduced, as shown by a second straight line segment 22 in fig. 1 a; and when the traffic density increases to the blocking density K_jam(according to the example shown in FIG. 1a, K can be seen_jam140 vehicles/km), the traffic stream enters a fully congested stop state, and the speed and traffic capacity of each vehicle in the traffic stream are all reduced to 0. Therefore, for any vehicle, if the traffic flow density and the speed corresponding to the vehicle conform to the relationship described by the traffic basic diagram, it indicates that the vehicle conforms to the traffic law, for example, when the traffic flow density is large, the vehicle may be in a congestion state (the traffic flow density of the vehicle is large)Lower speed).

It should be noted that: blocking density K in traffic basic graph_jamDepending on the distance from the vehicle head to the vehicle head when the traffic flow is completely congested, 140 vehicles/kilometers may be used as a default value, or other values may be used as a default value, which is not limited. Maximum capacity Q_maxAnd a free flow vehicle speed V_maxThe parameters related to the road type can be obtained by parameter correction or query of related specifications. In conjunction with FIG. 1b, it can be seen that: by the blocking density K_jamMaximum traffic capacity Q_maxAnd a free flow vehicle speed V_maxThe three parameters can uniquely determine two straight line segments in the traffic basic graph; or, from the blocking density K_jamMaximum traffic capacity Q_maxAnd a critical density K_crThe three parameters can also uniquely determine two straight line segments in the traffic basic graph; or, alternatively, from the blocking density K_jamFree flow vehicle speed V_maxAnd a critical density K_crThese three parameters can also uniquely determine two straight line segments in the traffic basic graph, and the like. The traffic basic map is not limited, and the free stream vehicle speed V may be given by the user in the scene file_maxBlocking density K_jamCritical density K_crMaximum traffic capacity Q_maxThe values of the relevant parameters are equal to enable the simulator to generate a corresponding traffic basic map, or the simulator directly adopts the default values of the parameters to generate the corresponding traffic basic map; in another example, different default basic maps may be set inside the simulator to describe basic traffic attributes of road regions of different road types, so as to obtain a corresponding traffic basic map according to a road type involved in the current simulation.

Furthermore, under the condition of given traffic flow density, the traffic state of the vehicle can be uniquely determined according to the traffic basic map, so that the speed of the vehicle is determined; that is, the traffic density k corresponding to the vehicle may be determined, and then the traffic state of the vehicle may be determined according to the traffic basic map and the traffic density k, so as to obtain the speed V of the vehicle. Specifically, the unit of velocity V is meters per second; the calculation formula is as follows:if K is less than or equal to K_crWhen V is equal to V_max(ii) a If K > K_crThen V ═ k (kQ)_max/(K_cr-K_jam)+K_jamQ_max/(K_jam-K_cr) K)/k. It is worth mentioning that fig. 1 a-1 b merely represent exemplary traffic basic diagrams, and do not limit the same; in other embodiments, other traffic basic diagrams in custom shapes can be selected, and only the requirement that the corresponding curve can be reproduced through relevant parameters is met, and the traffic state (vehicle distance, speed and the like) of the traffic flow can be described through the traffic flow density or other parameters is met. Further, since the vehicle distance D (i.e., the distance between the reference points of the two vehicles, which may be the centroid or the center point of the vehicle, etc.) and the traffic density k are in an inverse relationship, when the traffic density k is given, the vehicle distance D of the corresponding vehicle, i.e., D ═ 1/k, may also be calculated. That is, when the traffic density is given, the vehicle interval D and the speed V corresponding to the corresponding vehicle can be calculated.

In a specific implementation, the vehicle processing method provided by the embodiment of the application may be executed by a computer device, and the computer device may be a terminal or a server; alternatively, the vehicle processing method may be executed by both the terminal and the server, which is not limited thereto. For convenience of illustration, the following description will be made by taking the example of the computer device executing the vehicle processing method. Among others, the terminal mentioned herein may include but is not limited to: smart phones, tablet computers, notebook computers, desktop computers, smart watches, smart televisions, smart vehicle terminals, and the like; the server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, a cloud server providing basic cloud computing services such as cloud service, a cloud database, cloud computing, a cloud function, cloud storage, Network service, cloud communication, middleware service, domain name service, security service, CDN (Content Delivery Network), big data, an artificial intelligence platform, and the like. Further, the computer device may include simulation software, and the logic algorithm involved in the vehicle processing method may be embedded in the simulation software, so as to continuously generate background traffic vehicles (i.e. traffic vehicles) according with traffic laws in a certain radius area around a specific position in the simulation process. Wherein, the simulation software mentioned here can be a micro traffic simulation software (TAD Sim), which can include but is not limited to a simulation software that needs networking or a simulation software that does not need networking; it can be understood that the traffic simulation is divided into macroscopic simulation, mesoscopic simulation and microscopic simulation according to the accuracy and scope of the simulation, and the microscopic traffic simulation describes the simulation of the state of each vehicle in the traffic system with the individual vehicle behavior as a research object.

The following describes a specific flow of the vehicle processing method proposed in the embodiment of the present application with reference to a flow diagram shown in fig. 2. Referring to fig. 2, the vehicle processing method may include the following steps S201 to S202:

s201, determining the departure area of the departure point from the road area according to the reference point of the departure point in the road area.

In Open scene (international standard for describing an automatic driving simulation test scene) established by the ASAM (Association for Standardization of Automation and measurement Systems), a method source (departure point) for continuously generating vehicles in a certain radius area of a specific position (center reference point) is defined; specifically, the relevant description of the departure point in Open scene is as follows:

class traffic Source action// collective traffic Source action

Applied Stereotypes: // type of application:

XSDcmplex Type// XSD complex Type

Defines a source of traffic a specific location// defining a point of departure for traffic at a specific location.

Used in: // is used for:

TrafficAction/traffic action

In the table, redius is a radius, rate is a frequency of generating vehicles at a departure point (which may be called departure frequency), velocity is a speed, position is a center reference point position of the departure point, trafficdefinition is a traffic flow definition, double is a double precision floating point type, xsdatabutton is an XSD attribute, and XSD is a file type. Further, the Description of the diameter in the above table is "diameters of the diameter of the traffic source, associated with the specific location. Unit: range: [0.. inf. "; the corresponding Chinese definition is roughly: defining a radius of traffic sources for which the vehicle is present around a particular location; unit: rice; the range is as follows: [0 … inf. The Description of rate in the above table is "Defines the rate on high vessels expected at the source location. Unit: range: inf [ "; the corresponding Chinese definition is roughly: defining a rate at which the vehicle is present at the source location; unit: vehicle/second; the range is as follows: [0 … inf. The Description of "The optional starting location of a scientific object. Unit" in The above table is: range: [0.. inf. "; the corresponding Chinese definition is roughly: a selectable starting speed of the scene object; unit: vehicle/second; the range is as follows: [0 … inf. The Description of the position in the above table is "Defines the position of the traffic source"; the corresponding Chinese definition is roughly: the location of the traffic source is defined. The Description of trafficdefinition in the above table is "definitions the driver distribution for the source"; the corresponding Chinese definition is roughly: a vehicle and controller profile of the source is defined.

Based on this, in order to ensure that the departure point is consistent with the standard as much as possible, the departure point mentioned in the embodiment of the present application may be compatible with the relevant description of the departure point mentioned in the above Open Scenario; that is, the departure point mentioned in the embodiments of the present application may be understood as a method or code for continuously generating a vehicle. For example, the departure point may have a plurality of attributes such as redius, rate, velocity, position, and traffic definition; that is, in the embodiment of the present application, radius may be used to define a radius of a vehicle point, rate may be used to define a frequency of a traffic vehicle generated by the vehicle point, velocity may be used to define an initial speed of the traffic vehicle generated by the vehicle point, position may be used to define a position of a central reference point of the vehicle point, and so on. The center reference point indicated by the position may be understood as a reference point of the departure point in the road area.

Based on the above description, in a specific implementation, before executing step S201, the computer device may first acquire the scene file, obtain radius and position of the departure point by parsing the scene file, and thereby determine the reference point (i.e., the center reference point) of the departure point in the road region according to the position. Then, in the specific implementation process of step S201, the computer device may determine a circle region with a certain radius (i.e., radius value) in the road region as a departure region of the departure point, using the reference point as a center of the circle, as shown in fig. 3 a; the departure area, which is an area supporting the departure point for generating traffic vehicles, may also be referred to herein as a departure lane. It should be understood that, since the transportation vehicles are generated in a circle region defined by radius with a reference point (defined in advance) as a center, the reference point needs to be set in a road surface region of a target road (which may include at least one lane) to be taken out of the road region, and cannot be set outside the road surface region of the target road to be taken out or outside the map.

It should be noted that, the road area includes one or more lanes, and since the reference point and the radius are both defined by the user, the departure area determined in step S201 may be larger or moderate, so that the departure area may cover at least one lane in the road area; the departure area determined in step S201 may be made smaller, so that the departure area cannot cover any one of the lanes in the road area, which is not limited. Wherein, the meaning that the area of getting out of the car covers the lane means: the exit area is intersected with the lane central line of the lane; the lane center line is a line for identifying the center of the lane, i.e., the distances from the lane center line to the left and right sides of the lane are equal. See, for example, FIG. 3b for an illustration: the left-hand diagram in fig. 3b shows exemplarily a situation in which the exit area does not cover lane 1, and the right-hand diagram in fig. 3b shows exemplarily a situation in which the exit area covers lane 1.

Further, the embodiment of the application can also set a validity period for the departure point, so that the departure point continuously generates the traffic vehicles in the validity period. Specifically, the validators of the departure points can be set by time or the number of vehicles. For example, the user may set a time period for which the departure point is activated, such as activating the departure point from time t1 to time t2, while at times other than activation, the departure point is deactivated, no vehicle is generated; the validity period in this case may then include the activation period for the departure point, and the activation period is the period between t1 and t 2. For another example, the user may set the time T for which the departure point continues, for example, the departure point is automatically activated from the simulation start time when T' ═ 0, and the departure point is disabled by the time T, and then no vehicle is generated; the validity period in this case may then include the activation period of the departure point, and this activation period is the period between the simulation start time and time T. For another example, the user may set the maximum number of vehicles (i.e., the target number) that are discharged from the vehicle discharge point, and when the number of transportation vehicles that have been generated at the vehicle discharge point reaches the maximum number, the vehicle discharge point is disabled and no vehicle is generated at the vehicle discharge point; the validity period in this case may include a period of time between the simulation start time and a target time, which is: the time when the number of traffic vehicles that have been generated at the departure point is equal to the target number. As can be seen, the validity period of the departure point may include: an activation period of the departure point, or a period from the simulation start time to the target time.

And S202, controlling the departure point to generate traffic vehicles according with the traffic laws in the departure area according to the traffic basic diagram when the departure time of the departure point arrives.

Wherein, the step S202 may be executed in a simulation process; the departure time of the departure point referred to in step S202 means: the time when the traffic vehicle is generated at the departure point is required. Specifically, the first departure time of the departure point includes: the starting moment of the activation period of the departure point. For example, if the activation time period of the departure point is a time period between t1 and t2, the first departure time may be t 1; if the activation time period is the time period between the simulation starting time and the T time, the first departure time can be the simulation starting time. The non-first departure time of the departure point is determined according to the previous departure time and the departure time span of the departure point, the so-called departure time span can be called a departure interval, and the departure time span refers to the time length required to pass between every two vehicles; that is, the non-first departure time may be understood as: and on the basis of the previous departure time, passing the arrival time of a departure time interval. For example, if the first departure time is the simulation start time (i.e., t' is 0), and the first departure time interval is t1, the second departure time is t 1; if the second departure time is t2, the second departure time is (t1+ t2), and so on.

In one embodiment, the departure frequency of the departure point may be set to r cars/second (r is a positive integer), and the relationship between the departure time interval and the departure frequency of the departure point may be set to a reciprocal relationship; in this embodiment, the departure time interval at the departure point is then a fixed value, i.e. the departure time interval is equal to 1/r of a second, and the distribution thereof is not limited here. That is, in this case, when the first departure time arrives, the time interval between each subsequent departure time and the previous departure time is the same, and the departure point can be used to generate one transportation vehicle every 1/r second. In another embodiment, the departure frequency of the departure points can be set to r cars/second, and the departure number of the departure points is set to comply with poisson distribution; in this embodiment, the departure times at the departure points then follow an exponential distribution. That is, in this case, after the first departure time arrives, the time interval between each subsequent departure time and the previous departure time is determined from the exponential distribution. For example, the formula for the exponential distribution may be P (X)>t)＝e^-rtIn the formula, t is the departure time interval, X is a random variable, and P is the probability. Therefore, in specific implementation, relevant parameters should be used to ensure that the departure time interval of the departure point can be acquired by the computer device through the parameters and is subjected to exponential distribution or fixed value.

In one specific implementation, each time the departure time of the departure point arrives, if the departure area covers at least one lane in the road area (i.e., the departure area intersects with a lane center line of the at least one lane), the computer device may trigger execution of the step of controlling the departure point to generate the traffic vehicle control according to the traffic law in the departure area according to the traffic basic map. In this specific implementation, the specific way of controlling the departure point to generate the traffic vehicles according to the traffic basic map in the departure area may be: selecting a point in the departure area as a current position from at least one lane covered by the departure area; specifically, a point located in the departure area may be selected as the current position on a lane center line of at least one lane covered by the departure area. Then, whether the current position meets the feasible condition can be judged according to the position information of the current position. If the front position meets the feasible condition according to the position information of the current position, the traffic vehicle can be generated at the current position by the controlled departure point; and setting an initial speed for the traffic vehicle generated at the current position based on the traffic basic map so as to enable the generated traffic vehicle to conform to the traffic law.

In another specific implementation, the computer device may trigger execution of the step of controlling the departure point to generate traffic vehicle control in accordance with traffic laws in the departure area according to the traffic basic map whenever the departure time of the departure point arrives. In this specific implementation, the specific way of controlling the departure point to generate the traffic vehicles according to the traffic basic map in the departure area may be: and randomly selecting a position in the departure area as a current position, and judging whether the current position meets a feasible condition according to the position information of the current position. If the current position meets the feasible condition, the current position is feasible, and the departure point can be controlled to generate a traffic vehicle at the current position; and setting an initial speed for the traffic vehicle generated at the current position based on the traffic basic map so as to enable the generated traffic vehicle to conform to the traffic law. If the current position does not meet the feasible conditions, the arrival of the next departure time of the departure point can be waited; or, if the current position does not meet the feasible conditions, reselecting a new current position in the departure area, and iterating the process (namely judging whether the current position meets the feasible conditions and the like) until finding a current position meeting the feasible conditions. It should be noted that this embodiment may not necessarily restrict whether the departure area covers at least one lane in the road area. In this embodiment, if the departure area covers at least one lane in the road area, when the computer device randomly selects the current position in the departure area, the current position may be selected on a lane center line of each lane covered by the departure area, or may be selected at a position other than the lane center line in each lane covered by the departure area, which is not limited herein.

Based on the above two embodiments, in the process of executing step S202, in the embodiment of the present application, a feasible location (i.e., a location that meets the feasible condition) needs to be found first, and then the departure point is controlled to generate the transportation vehicle. Wherein the feasible conditions may include at least one of: the positions are related and can be placed; when the feasible conditions include both position correlation and placeability, position feasible means that the position is both correlated and placeable. Taking into account that the individual traffic vehicles generated at the departure point are used to influence the driving behavior of the test vehicle in the road region; thus, the definition of position-related and placeable is as follows:

position correlation: considering that a vehicle on the same road as the host vehicle (i.e., the test vehicle) from the viewpoint of the test autopilot algorithm (i.e., the decision algorithm) and in the same traveling direction as the host vehicle has the greatest influence on the host vehicle, such vehicles may be regarded as related vehicles, and the positions where they are laid out may be referred to as related positions. Therefore, considering the generation of traffic vehicles that are on the same road as the host vehicle and have the same traveling direction as the host vehicle, if the range of the departure area covers other areas (such as a lane different from the lane of the host vehicle, or a road/intersection in a different direction, etc.), it is considered that these other areas are irrelevant areas, i.e., the positions in these areas are all irrelevant positions, and in this case, the next position may be polled to generate traffic vehicles. Based on this, position correlation can be understood as: the test vehicle is positioned on the road where the test vehicle is positioned, and the lane direction of the test vehicle is the same as that of the lane where the test vehicle is positioned.

The position can be put: i.e. where a vehicle can be placed. Considering that the position of the vehicle mentioned in the embodiment of the present application refers to the position of the reference point of the vehicle, the reference point of the vehicle may be the center of mass or the center point of the vehicle, etc.; taking the reference point as the centroid as an example, assuming that the centroid coincides with the geometric center of the rectangle representing the vehicle, if there is no obstacle (such as a cone, a stone, or a vehicle) in an area (such as the area 31 in fig. 3 c) formed by expanding the centroid to two sides by half the length of the vehicle in the longitudinal direction and expanding the centroid to two sides by half the width of the vehicle in the transverse direction, so that a new vehicle cannot be placed in the area, it can be considered that a vehicle can be placed in the position. In this regard, for any location, if there is no obstacle in the area determined at the any location based on the vehicle size, it indicates that the any area is placeable. It should be noted that the embodiment of the present application may be applied to consider a case where the transportation vehicle is generated on the center line of the lane, and the initial heading angle is the same as the lane direction. The lateral direction refers to a direction perpendicular to the lane where the test vehicle is located (i.e., a direction in which a lane normal of the target lane is located), and the longitudinal direction refers to a direction parallel to the lane where the test vehicle is located.

According to the embodiment of the application, the departure area of the departure point can be determined from the road area according to the reference point of the departure point in the road area, and the departure area can be a circular area determined based on a certain radius by taking the reference point as the center; and controlling the departure point to generate the traffic vehicles in the departure area according to the traffic basic map every time the departure time of the departure point arrives. Since the traffic basic map describes the relationship among the traffic flow, the traffic flow density and the speed in the traffic network, the traffic flow density and the speed corresponding to the traffic vehicles generated by combining the traffic basic map both conform to objective traffic laws. Therefore, the embodiment of the application can support a user to automatically and continuously generate some traffic vehicles according with traffic laws in the traffic area with a certain radius around the fixed position (the reference point) according to the traffic basic diagram by simply setting some parameters (such as parameters for generating the traffic basic diagram) so as to effectively improve the rationality of the traffic vehicles and the vehicle setting efficiency.

Based on the method embodiment shown in fig. 2, a schematic flow chart of another vehicle processing method provided in the embodiment of the present application is shown; in the embodiment of the present application, a computer device executing the vehicle processing method is still taken as an example for description. In addition, when the simulation starts, the embodiment of the application can start a simulation clock, wherein the simulation clock can be simply called as a simulation clock, and can be used for representing the change of simulation time; each time the simulation clock advances by one step (namely, advances by one step, and one step or one grid equals to one time step), the computer equipment can be triggered to execute the simulation operation required by the simulation process, such as detecting whether the departure time of the departure point arrives or not. Referring to fig. 4, the vehicle processing method may include the following steps S401 to S407:

s401, determining the departure area of the departure point from the road area according to the reference point of the departure point in the road area. The departure area is a circular area with a reference point as the center of a circle and radius as the radius.

S402, determining at least one lane central line adjacent to the reference point from the road area based on the position of the reference point in the road area.

Wherein, any lane central line is adjacent with the reference point and means: there are no other lane centerlines between any lane centerline and the reference point. Generally, along the lane direction of the lane where the reference point is located, there may be one lane center line adjacent to the left side of the reference point, and there may also be one lane center line adjacent to the right side of the reference point, that is, there may be two lane center lines adjacent to the reference point. It should be understood that there may be special circumstances such that there is a lane centerline in the road region adjacent to the reference point; see, for example, the left and right side views of FIG. 5 a: along the lane direction of the lane where the reference point is located, when the reference point is close to the leftmost boundary of the road area, a lane central line does not exist on the left side of the reference point and is adjacent to the reference point, and a lane central line exists only on the right side of the reference point and is adjacent to the reference point; alternatively, when the reference point is close to the rightmost boundary of the road region, it may be possible that there is no lane center line adjacent thereto to the right side of the reference point, and there is only one lane center line adjacent thereto to the left side of the reference point.

S403, selecting a lane central line corresponding to the minimum distance from at least one lane central line according to the distance between the reference point and each lane central line; and using the lane where the selected lane center line is as the main lane of the departure point.

In a specific implementation, perpendicular lines can be respectively drawn from the reference point to each lane center line of the at least one lane center line, so that the length of each perpendicular line is determined as the distance between the reference point and the corresponding lane center line. Then, the computer equipment can select a lane central line corresponding to the minimum distance from at least one lane central line; it should be noted that, if the number of the lane center lines adjacent to the reference point is two, and the distance between the reference point and each of the two lane center lines is the same, the computer device may select, from the perspective of the driver (i.e., the lane direction of the lane where the reference point is located), the lane center line located on the left side of the reference point from the two lane center lines. After the lane center line is selected, the computer device takes the lane where the selected lane center line is located as the main lane of the departure point.

Therefore, the embodiment of the application can make a perpendicular line from a given reference point to the center line of the adjacent lane, and the lane where the center line of the lane with the shortest perpendicular line segment is located is defined as the main lane of the departure point; if the distances of the perpendicular lines from the reference point to the center lines of the lanes on the two sides are the same, the lane in which the center line of one lane on the left side (from the viewpoint of the driver) is located can be selected as the main lane. Of course, in other embodiments, one lane center line may be randomly selected from the two lane center lines, or the lane center line located on the right side of the reference point may be selected, which is not limited herein. It should be understood that if the lane centerline of the host lane intersects the departure area, it may be determined that the host lane is covered by the departure area. It should also be understood that no matter how large the radius R of the departure area, the departure point may have at least one main lane in the road area; and the main lane may or may not be covered by the departure area. For example, referring to fig. 5b, reference point 52 in departure area 51 is adjacent to the lane centerline of lane 53 in the road area, and adjacent to the lane centerline of lane 54; but the distance between reference point 52 and the lane center line of lane 53 is less than the distance between reference point 52 and the lane center line of lane 54, lane 53 may be selected as the primary lane for the departure point. However, since the departure area 51 is small, the lane 53 is not covered by the departure area 51.

Further, if the departure area intersects lane centerlines of other lanes having the same direction as the main lane and located on the same road, these other lanes may be defined as the slave lanes of the departure point. That is, the computer device may also query the lane satisfying the lane condition in the road region according to the positional relationship between the lane center line of each lane in the road region and the departure region; the lane conditions here include: the lane direction is the same as that of the main lane, and the lane center line is intersected with the departure area. And if the lane meeting the lane condition exists in the road area, taking the lane meeting the lane condition as a slave lane of the departure point, and determining that the slave lane is covered by the departure area. It is understood that when the radius R of the departure area is small, it may be possible that the departure point does not exist from the lane; when the radius R of the departure area is large, one or more secondary lanes may exist at the departure point. For example, referring to the left diagram in fig. 5c, the departure area in this case does not intersect any lane centerline, so there is no departure point from the lane; referring to the right-hand diagram of fig. 5c, the exit area in this case intersects with the lane center lines of three lanes, i.e., a lane 53, a lane 54 and a lane 55, respectively, while the lane 53 is the main lane of the exit point, and the lane 54 and the lane 55 are in the same direction as the lane 53, so that two sub-lanes, i.e., the lane 54 and the lane 55, may exist at the exit point.

S404, when the departure time of the departure point arrives, if the departure area covers at least one lane in the lane area, controlling the departure point to generate traffic vehicles according with the traffic law in the departure area according to the traffic basic diagram. Specifically, the step of controlling the departure point to generate the traffic vehicles according to the traffic basic map in the departure area may at least include the following steps s11-s 13:

s11, selecting a point in the departure area as the current position in at least one lane covered by the departure area.

In one specific implementation of step s11, the computer device may randomly select a point located in the departure area as the current location in at least one lane covered by the departure area; in this case, the selected current position may be located on a lane center line of a certain lane, or may not be located on a lane center line of any lane, which is not limited to this.

In another specific implementation of step s11, the computer device may select a point as the current position on the departure line of each lane covered by the departure area, where the departure line of each lane is located in the departure area. Since the lane covered by the departure area means that the departure area intersects with the lane center line of the lane, the way of determining the departure line of any lane covered by the departure area includes: and determining two intersection points between the lane central line of any lane and the departure area, and determining the departure line of any lane in a line segment between the two intersection points. Specifically, the computer device may directly determine a line segment between the two intersection points as the outgoing line of any lane. That is to say, for any lane covered by the departure area (for example, the main lane or the secondary lane), the embodiment of the present application may define a line segment (a line segment between two intersection points) on the lane center line of the lane, which is truncated by the departure area, as the departure line of the lane; as shown in fig. 5d, a line 56, which is a segment of the lane center line of the main lane interrupted by the departure area, may be defined as the departure line of the main lane.

Alternatively, as can be seen from the foregoing, the road area may include a road surface area of a target road to be taken out, the reference point being located in the road surface area; a so-called target road for preparing a host vehicle may include at least one lane, and each of the traffic vehicles generated by the departure point may travel on each of the lanes in the target road. Considering that the road area may include other irrelevant areas (or irrelevant areas) besides the road surface area including the target road; and there may be a problem of matching reference points and radius settings, resulting in the departure area covering all or part of the extraneous area, as shown in fig. 5 e. In this case, a line segment between two intersection points between the lane center line and the departure area is truncated by the irrelevant area; the term "line segment is interrupted by an extraneous region" means that a portion of the line segment is located within a target region, which is an overlapping region between the extraneous region and a road surface region in the road region, excluding the road surface region. In this case, it may be considered that the departure line of any one lane is shortened, and at this time, the remaining line segment that is not located in the target area among the line segments between the two intersection points may be determined as the departure line of any one lane. Based on this, when the computer device determines the exit line of any lane in the line segment between the two intersection points, the target region may be detected in the exit region first. If the target area is not detected, or the target area is detected but the line segment between the two intersection points is not located in the target area, the line segment between the two intersection points can be used as the outgoing line of any lane; if the target area is detected and part of the line segments between the two intersection points are located in the target area, the rest of the line segments between the two intersection points which are not located in the target area can be used as the exit line of any lane.

Therefore, for any lane covered by the departure area (such as a main lane or a secondary lane), when the line segment intercepted by the departure area is intercepted by the irrelevant area, the remaining line segments which are not located in the target area in the line segment intercepted by the departure area can be defined as the departure line of the lane; as shown in fig. 5 f: the line between the two intersections between the lane centerline of the primary lane and the departure area, and the line between the two intersections between the lane centerline of the secondary lane and the departure area, are both truncated by the extraneous area, so the departure line of the primary lane may be the line identified at 57 in fig. 5f and the departure line of the secondary lane may be the line identified at 58 in fig. 5 f. It should be understood that, when the reference point is located on the lane center line of the main lane, the line segment between two intersection points between the lane center line of the main lane and the departure area is the diameter of the departure area; then, if the line segment between the two intersections between the lane center line of the main lane and the departure area is not cut off by the irrelevant area, it is known that the longest departure line is the diameter of the departure area.

Based on the above description, when the computer device selects a point as the current position on the departure line of each lane covered by the departure area, the following embodiments may be provided:

the first implementation mode comprises the following steps: as can be seen from the foregoing, when the departure area is small, it may intersect with only one lane centerline, and the lane centerline of the main lane of the departure point is closest to the center (i.e., the reference point) of the departure area; then it can be known that: the lane center line intersecting the departure area at this time is the lane center line of the main lane. It can be seen that when the number of lanes of the at least one lane covered by the departure area is 1, the at least one lane is a main lane of the departure point. In this case, when the computer device selects one point as the current position on the departure line of each lane covered by the departure area, one point may be randomly selected as the current position on the departure line of the main lane. That is, when the exit area is small, it intersects with only one lane center line, the lane where the lane center line is located is the main lane, and the line segment on the lane center line of the main lane, which is intercepted by the exit area, is the only exit line in this case, as shown in the aforementioned fig. 5 e.

The second embodiment: from the foregoing, when the departure area is large, it may intersect lane center lines of other lanes in addition to the lane center line of the main lane. It can be seen that, when the number of lanes of the at least one lane covered by the departure area is greater than 1, the at least one lane includes: the number of the slave lanes is a positive integer. In this case, when the computer device selects a point as the current position on the departure line of each lane covered by the departure area, the main lane and each secondary lane of the departure point may be placed in the lane selection pool for lane selection. Then, selecting one lane from the lane selection pool as a current lane; specifically, the implementation of this step may include the following steps:

in one embodiment, the departure probabilities for each lane may be set to be the same (i.e., the probabilities of traffic vehicles coming off each lane are the same). In this embodiment, when the computer device selects a lane from the lane selection pool as the current lane, a lane may be randomly selected from the lane selection pool as the current lane by using a first lane selection algorithm according to a selection strategy with equal probability; the first lane selection algorithm and the random seeds for randomly selecting lanes are not limited, and the selected lane can be reproduced only after the first lane selection algorithm and the random seeds are defined.

In another embodiment, the departure probabilities of the lanes may be different, for example, if it is required to ensure that the number of traffic vehicles generated in a certain lane is greater than the number of traffic vehicles generated in other lanes, a lane-level probability parameter may be set, and the probability parameter is used to indicate the departure probability of the lane. In this embodiment, when the computer device selects one lane from the lane selection pool as the current lane, it may select one lane from the lane selection pool as the current lane by using a second lane selection algorithm; the second lane selection algorithm is not limited herein, and for example, the logic followed by the second lane selection algorithm is: the lane with the higher probability of departure is more likely to be selected (probability); it will be appreciated that parameters such as the second lane selection algorithm and the probability of departure for each lane should be set to ensure that the selection of lanes can be subsequently reproduced in dependence on these parameters.

In another embodiment, when the computer device selects a lane from the lane selection pool as the current lane, it may also select a lane from the lane selection pool as the current lane according to the priority of each lane; wherein the priority of the master lane is higher than the priority of the slave lane. Alternatively, the computer device may select a lane from the lane selection pool as the current lane in a left-to-right order along the lane direction, and so on.

After the current lane is determined through any of the above embodiments, the computer device may select a point from the departure line of the current lane as the current location. In one embodiment, the computer device may randomly select a point from an exit line of the current lane as the current position; the random seed for randomly selecting points and the algorithm for selecting points are not limited herein (e.g., the selected points are evenly distributed on the departure line), but it is ensured that the selected points can be reproduced after the algorithm for selecting points and the random seed are defined. In another embodiment, a plurality of candidate points may be preset on the lane center line of each lane, and since the exit line is located on the lane center line, the computer device may select one unselected candidate point as the current position from all candidate points on the exit line of the current lane according to the lane direction.

And s12, if the current position meets the feasible condition according to the position information of the current position, controlling the departure point to generate a traffic vehicle at the current position.

Specifically, the location information of the current location may include: the lane direction of the lane where the current position is located and the area indication information corresponding to the current position, wherein the area indication information is used for indicating: the area determined at the current position based on the size of the vehicle may be determined in a manner described in relation to fig. 3 c. Based on this, the computer device may determine whether the current position satisfies the feasibility condition according to the position information of the current position by determining whether the lane direction of the lane where the current position is located is the same as the lane direction of the lane where the test vehicle is located, and detecting whether an obstacle exists in the area indicated by the area indication information. And if the lane direction of the lane where the current position is located is the same as the lane direction of the lane where the test vehicle is located and no obstacle exists in the area, judging that the current position meets the feasible condition. And if the lane direction of the lane where the current position is located is different from the lane direction of the lane where the test vehicle is located, or if the lane direction of the lane where the current position is located is the same as the lane direction of the lane where the test vehicle is located but an obstacle exists in the area, judging that the current position does not meet the feasible condition.

s13, setting an initial speed for the generated transportation vehicles at the current position based on the traffic basic map so as to make the generated transportation vehicles conform to the traffic laws.

In a particular implementation, a computer device may determine a first speed for a traffic vehicle generated at a current location when setting an initial speed for the traffic vehicle generated at the current location based on a traffic basic map. The first speed is preset, namely the first speed under the condition is a fixed value, and the first speeds corresponding to all traffic vehicles generated at the departure point are the same; alternatively, the first speed is generated by a speed profile, that is, the first speed in this case is generated in real time, and the first speeds corresponding to the respective transportation vehicles generated at the departure point may be the same or different. The velocity profile referred to herein means: the distribution to which the vehicle speed conforms under the condition that the vehicle speed is a random variable; the representation may be a function or other representation, and is not limited thereto. For example, the vehicle speed follows a normal distribution N (mu)_k，σ_k ²) Mean and variance are respectively μ_kAnd σ_k ²The velocity distribution can be understood as a normal distribution; in this case, the user may cause the simulator to construct the velocity profile by giving the mean and variance in the scene file, or use other methods to set the velocity profile, without limitation. The velocity profile may be used in conjunction with a random number to generate a first velocity of the transportation vehicle; specifically, a corresponding random number may be generated for the currently generated transportation vehicle, so that a value is taken in the speed distribution based on the generated random number, and the taken value is determined as the first speed.

Furthermore, considering that the random numbers generated by the simulator through the computer program are all pseudo-random numbers, in order to maintain consistency, a random number generation mode and a random number seed can be given to ensure that the random number sequences generated by the user using different simulators are consistent. The selection of the speed distribution, the random number generation mode and the random number seed is not limited, but it should be ensured that the parameters are not givenBy which parameters a completely consistent sequence of random numbers y can be recovered, whatever the emulator is used by the user₁，y₂，y₃，…，y_nSo that each emulator can get a perfectly consistent first velocity sequence v based on a random number sequence₁，v₂，v₃，…，v_nThe values in these first speed sequences may be assigned to traffic i (i ═ 1, 2, 3, …, n) generated by the vehicle point, where n is the number of traffic that needs to be generated (n may be an option, i.e., it is not necessary to set the value of n). That is to say, the embodiment of the present application does not limit the speed distribution, the random number generation method, and the like, as long as it can be ensured that the same result can be reproduced in different simulators. Due to { v₁，v₂，v₃，…，v_nThe generation of the speed control method has the characteristics of randomness and consistency, so that the first speed of the traffic vehicle can be ensured to have certain diversity and randomness.

In addition to determining the first speed for the traffic vehicles generated at the current location, a vehicle separation corresponding to the traffic vehicles generated at the current location may also be determined. Setting the time when the traffic vehicle is generated at the current position as the ith departure time of the departure point; and when i is larger than 1, the traffic vehicle generated at the current position corresponds to a departure time interval, and the departure time interval is the interval between the ith departure time and the (i-1) th departure time. Assuming that the departure frequency is r cars/second and the departure time interval of the departure point is equal to a fixed value of 1/r second, that is, the average time interval between two traffic vehicles generated by the departure point is 1/r second, if the departure point (or the departure area) covers m lanes (m is a positive integer) and the probabilities generated by the traffic vehicles from the lanes are the same, the average time interval between two traffic vehicles is m/r second for the same lane; if the first speed of the traffic vehicle generated is v m/s and the corresponding first speed is assumed to be unchanged before the next traffic vehicle on the same lane is generated, the vehicle separation distance (average inter-vehicle distance) between two traffic vehicles on the same lane is m × v/r m; and the traffic density is the reciprocal of the vehicle spacing, so the traffic density of each corresponding lane is r/(m × v) (unit is vehicle/meter/lane).

Based on the principle, when the departure time interval is subject to exponential distribution, ti represents that the traffic vehicle generated at the ith departure time corresponds to one departure time interval, vi ' represents the first speed of the traffic vehicle generated at the ith departure time, ti replaces 1/r in the formula m × v/r, vi ' replaces v in the formula m × v/r, and the vehicle interval di corresponding to the traffic vehicle generated at the ith departure time, di ═ vi ' × m, can be obtained. It should be understood that the formula for calculating di may also be applied to the case where the departure time is a fixed value. Based on this, in the case that the departure area covers at least one lane in the road area, the manner in which the computer device determines the inter-vehicle distance corresponding to the traffic vehicle generated at the current position may be as follows: and multiplying the generated departure time interval corresponding to the traffic vehicle, the first speed and the number of lanes covered by the departure area to obtain the vehicle interval corresponding to the traffic vehicle generated at the current position.

After the vehicle distance is determined, the computer equipment can determine the corresponding traffic density according to the determined vehicle distance; specifically, the reciprocal of the determined vehicle distance may be determined as the corresponding traffic density, and when ki is used to represent the traffic density, ki is equal to 1/di. Then, the computer device determines a speed corresponding to the determined traffic density in the traffic basic map as a second speed (denoted by vi "). Then, the computer device may set a minimum speed of the first speed and the second speed as an initial speed of the transportation vehicle generated at the current position. Further, in order to make the generated traffic flow conform to the traffic law, in a scenario where the first speed is a fixed value, the first speed initially given by the user may be lower than or equal to the second speed calculated by the traffic basic map.

Meanwhile, if there is a congested traffic flow in a short distance downstream of the departure point, the newly generated traffic vehicle should not have such a speed that it just generates a brake to collide with the downstream congested vehicle in less time than the brake is applied. Based on this, the computer device can also observe whether there are other vehicles within a range of the vehicle distance from the current position in the lane where the current position is located, in the downstream direction of the current position. If no other vehicles exist, triggering and executing the step of setting the minimum speed of the first speed and the second speed as the initial speed of the traffic vehicle generated at the current position; if there are other vehicles, the travel speeds of the other vehicles (i.e., vehicle speeds) may be determined, and the minimum speed among the first speed, the second speed, and the travel speeds is set as the initial speed of the transportation vehicle generated at the current location. Alternatively, if the number of other vehicles is plural, the computer device may determine the traveling speeds of the other vehicles closest to the current position, and set the minimum speed among the first speed, the second speed, and the traveling speeds as the initial speed of the transportation vehicle generated at the current position.

In summary, in a case that a traffic vehicle may be generated at a departure point from m lanes, when ti has passed and a traffic vehicle i is generated, a first speed vi 'may be generated according to a preset speed distribution, and a corresponding vehicle distance vi' × ti × m may be calculated, where the corresponding traffic flow density is an inverse number ki of the vehicle distance, which is 1/di, and then a corresponding second speed vi "may be obtained according to a traffic basic map (obtaining a speed from the vehicle density). Meanwhile, it is possible to observe forward in front of the own lane whether there are other vehicles in the range of di (a direction parallel to the lane under a Frenet coordinate system (a coordinate system established using a center line of the road as a reference line, using a tangent vector of the reference line and a normal vector)) and if there is another vehicle j closest to the traffic vehicle i and the vehicle speed is vj, the initial speed vi of the traffic vehicle i is the minimum value of the above several speeds, i.e., vi ═ min (vi', vi ", vj). The comparison with vj is introduced to avoid that the traffic vehicle i just generated, has not come into collision with the brakes because of the presence of other vehicles j that are slower downstream. Optionally, the embodiment of the present application may further provide that when the transportation vehicles generated at the departure point are still in the departure area, lane change is not allowed. And after the initial speed is set for the traffic vehicle, the simulation clock can be controlled to continue to advance so as to trigger and detect whether the next departure time arrives.

In all of the above, a specific mode of how to set the initial speed for the transportation vehicle is described by taking a case where i is greater than 1 as an example. When i is 1, that is, the time when the traffic vehicle is generated at the current position, and is the first departure time of the departure point, the initial speed may be set for the traffic vehicle according to the above logic, and the vehicle distance in this case may be set to 0 as a default. Alternatively, the computer device may directly set the first speed to the initial speed of the transportation vehicle.

Further, if it is determined that the current location does not satisfy the feasible condition according to the location information of the current location, the computer device may execute different logic according to the difference between the two embodiments mentioned in the foregoing step s 11; the method comprises the following specific steps:

if the computer device determines the current position through the first embodiment mentioned in the previous step s11, that is, the departure area only covers the main lane of the departure point, and the computer device randomly selects a point on the departure line of the main lane as the current position, then if it is determined that the current position does not satisfy the feasibility condition according to the position information of the current position, the computer device may control the simulation clock to continue to advance. Alternatively, the computer device may also jump to step s11 to re-select the current position on the departure line of the main lane until a current position meeting the feasibility condition is found. Still alternatively, the computer apparatus may jump to step s11 to re-select the current position on the departure line of the main lane, and determine whether the current position satisfies the feasibility condition through step s 12; after the step s11 is executed iteratively for the preset number of times, the current position which meets the feasible condition is not found yet, and the simulation clock is controlled to continue to advance.

If the computer device determines the current location through the second embodiment mentioned in the foregoing step s11, that is, the departure area covers the main lane and the sub-lane of the departure point, the computer device selects a point on the departure line of the current lane as the current location by putting the main lane and each sub-lane of the departure point into the lane selection pool and selecting a lane from the lane selection pool as the current location, and then the computer device may eliminate the current lane from the lane selection pool if it is determined that the current location does not satisfy the feasible condition according to the location information of the current location. In one embodiment, when the computer device judges that the current position does not meet the feasible conditions, the current vehicle can be directly removed from the lane selection pool; in another embodiment, the computer device may also jump to step s11 to reselect the current position on the departure lane of the current lane, and determine whether the current position satisfies the feasible condition through step s 12; after the step s11 of executing the iteration for the preset number of times, the current position which meets the feasible condition is not found yet, and then the current lane is removed from the lane selection pool. After the current lane is rejected, the computer device may determine whether a lane exists in the lane selection pool. And if the lane exists in the lane selection pool, reselecting the current lane from the lane selection pool until the current position meeting the feasible condition is found, or until no lane exists in the lane selection pool. And if no lane exists in the lane selection pool, controlling the simulation clock to continue advancing.

S405, when the departure time of the departure point arrives, if the departure area does not cover any lane in the lane area, making a perpendicular line from the reference point to the lane center line of the main lane of the departure point to obtain a foot, and determining the position of the foot as the current position; for example, referring to FIG. 5g, the location of the drop foot 59 can be determined as the current location. After determining the current location, the computer device may then perform subsequent steps S406-S407.

S406, if the current position meets the feasible condition according to the position information of the current position, controlling the departure point to generate a traffic vehicle at the current position; and setting an initial speed for the traffic vehicle generated at the current position based on the traffic basic map so as to enable the generated traffic vehicle to conform to the traffic law.

It should be noted that the specific implementation process for setting the initial speed for the transportation vehicle generated at the current position based on the traffic basic map in this case is the same as the specific implementation process of the step s13, and is not described herein again. However, there are some differences in the specific refinements of the step of how the inter-vehicle distance is determined between the two implementations; in the scenario corresponding to step S406 (i.e. when the departure area does not cover any lane in the road area), the computer device determines the vehicle distance corresponding to the traffic vehicle generated at the current position in a manner that: and multiplying the generated departure time interval corresponding to the traffic vehicle with the first speed to obtain the vehicle interval corresponding to the traffic vehicle generated at the current position.

And S407, if the current position is judged not to meet the feasible conditions according to the position information of the current position, controlling the simulation clock to continue to advance. Wherein, every time the simulation clock advances one step, whether the departure time of the detected departure point arrives is triggered, so that when the departure time arrives, the step S404 is skipped.

Based on the above description of steps S401-S407, it can be seen that the embodiments of the present application can support the user to set some parameters (such as parameters for generating a traffic basic map, etc.) simply, and thus, the departure point can automatically and continuously generate some transportation vehicles according to the traffic basic map in the departure area around the fixed position (reference point) with a certain radius, so that the rationality of the transportation vehicles and the vehicle setting efficiency can be effectively achieved. In addition, a set of rules for generating the traffic vehicles is set, so that the diversity of the vehicle states can be ensured, and the consistency of the vehicle states of the traffic vehicles generated by different simulation software according to the same scene file can be ensured.

As can be seen from the above description of the method embodiment in fig. 4, in the embodiment of the present application, a polling sequence of traffic vehicles generated by departure points in a departure area may be defined, so as to ensure that positions and sequences of the traffic vehicles generated by the departure points in the departure area are consistent, thereby ensuring that different simulators may analyze the same result. Specifically, when there are a master lane and a slave lane at the departure point, an exemplary polling sequence may be as follows:

1. when t is 0 (i.e. the first departure time arrives), lane selection is first made. One method of lane selection may be: putting all the slave lanes and the master lane together to serve as a lane selection pool, and selecting the lanes with equal probability to select the current lane; the algorithm for selecting the lane is not limited, but it should be ensured that the user can reproduce the selected lane after the algorithm and the random seed are defined.

2. After the lane is selected, a vehicle line selection point is made on the current lane. The method comprises the following steps: randomly selecting a point on the departure line of the selected current lane, wherein the algorithm of the selected point is not limited (for example, the selected points are uniformly distributed on the departure line), but the user can reappear the selected point after the algorithm and the random seeds are defined.

3. If the point can not be placed (namely, the feasible condition is not met), namely, vehicles already occupy the position where new traffic vehicles are to be generated, the current lane is removed from the lane selection pool, lane selection is made again, the selected point on the lane is made again, and if the selected point can not be placed yet, the process is continued. If all the main lanes and the auxiliary lanes are found and no placeable points are found yet, waiting for the next departure time and continuing the process. If a placeable point can be found, a traffic vehicle is generated, the initial speed of the traffic vehicle is calculated according to the method, and the number of the traffic vehicles generated at the departure point is added by one.

4. And (4) continuing the simulation, and when the simulation clock is advanced to the next departure time determined based on the next time interval of the fixed value or the exponential distribution, finding the next placeable point according to the flow of point selection on the lane selection/departure line above so as to generate the corresponding traffic vehicle and assign the initial speed.

5. And repeating the above operations in the valid period of the departure point. After the departure point is invalid, no vehicle is produced.

The following describes a specific process of continuously generating traffic vehicles in the departure area according to the polling sequence defined in the embodiment of the present application with reference to the flowchart shown in fig. 6:

step a: carrying out simulation initialization setting, determining a speed distribution (or fixed first speed) given by a user, determining a departure area of a departure point in a road area according to a reference point and a radius of the departure point given by the user, and distinguishing a main lane and a secondary lane of the departure point in the road area. In addition, the value i ═ 1 can also be assigned.

Step b: and judging whether the simulation is finished or not, whether the activation time period of the departure point is over or not, or whether the number of the traffic vehicles generated by the departure point reaches the maximum number or not. If yes (i.e. including at least one of the simulation is finished, the activation time period is over and the maximum number is reached), the departure process of the departure point is determined to be completed. If not, (no here means that the simulation is not finished, the activation time period is not over, and the maximum number is not reached), step c is executed.

Step c: and judging whether the simulation clock is advanced to the next departure time of the departure point. If yes, executing step d; if not, controlling the simulation clock to continue to advance.

Step d: and judging whether the vehicle area covers at least one lane. If not, executing step e; and if yes, executing the step h.

Step e: and f, drawing a vertical line from the reference point to the center line of the main lane, taking the position of the drop foot as the current position, and executing the step f.

Step f: it is determined whether the current location is feasible (i.e., whether the feasible condition is satisfied). If yes, executing step g; if not, controlling the simulation clock to continue to advance.

Step g: controlling a departure point to generate a traffic vehicle at a current position, and calculating an initial speed of the traffic vehicle; then, an addition operation is performed on the number of traffic vehicles for which the departure point has been generated, and i ═ i +1 is performed.

Step h: and judging whether the vehicle area only covers the main lane or not. If yes, selecting a point on the departure line of the main lane as the current position, and skipping to the step f; if not, the main lane and the auxiliary lane are placed into a lane selection pool, and step i is executed.

Step i: and (4) selecting a lane in the lane selection pool, then selecting a point on the departure line of the selected current lane as the current position, and then executing the step j.

Step j: and judging whether the current position is feasible or not. If yes, jumping to the step g; and if not, removing the current lane from the lane selection pool, and executing the step k.

Step k: and judging whether lanes exist in the lane selection pool or not. If yes, jumping to the step i; if not, controlling the simulation clock to continue to advance.

It should be noted that, in the above process, after the simulation clock advances by one step, the step b may be triggered to be executed. And when the step h is executed, the related lane selection pools are mutually independent and do not influence each other. It will also be appreciated that each time the resulting vehicle is set to an initial speed, it can begin traveling in the road region; therefore, although the current position determined each time the step e is executed iteratively is the position where the foot is located, there may still be a case where the current position is feasible each time it is determined whether the current position is feasible. For example, if the initial speed of the traffic vehicle generated at the position where the foot is located last time is higher, when it is determined whether the current position is feasible or not, the traffic vehicle generated last time is far away, and then the current position can be made feasible (that is, one traffic vehicle can be placed at the current position). Of course, there may be situations where the current location is not feasible; for example, if the initial speed of the traffic vehicle generated at the position of the foot drop in the previous time is low, when it is determined whether the current position is feasible, the traffic vehicle generated in the previous time only travels a short distance, and one traffic vehicle cannot be placed in the area between the position of the traffic vehicle and the current position, so that the current position is not feasible.

It should be noted that fig. 2, fig. 4 and fig. 6 are all described by taking an example of generating a transportation vehicle in conjunction with a traffic basic diagram; if the user does not want to generate the traffic vehicles by adopting the traffic basic map but wants to generate the traffic vehicles according to the intention of the user, the user can add switching parameters in the scene file, so that the user can generate a vehicle group with any distance and speed combination (not necessarily according with the traffic law) according to the requirement of the user. And if the user does not want to generate traffic vehicles only on the same road or the same-direction road as the test vehicle, the switching parameters can be added to realize the generation of traffic vehicles on the opposite-direction road to the road where the test vehicle is located.

As can be seen from the above description of fig. 2, 4 and 6, the embodiments of the present application can continuously generate traffic flow vehicles with various states at fixed positions based on the traffic basic map by simple parameter setting before the simulation starts, and ensure that the vehicle states (positions, speeds) and the like generated when the same parameter setting is performed are completely consistent by a standardized form, thereby ensuring the consistency of the generated scenes. By introducing some parameters, the traffic vehicles continuously generated at the specified place can accord with the traffic rules, the diversity of the vehicle states is met, and the unique vehicle states can be obtained when different simulators analyze the traffic vehicles. For example, the parameters introduced may include: the method includes defining parameters of elements of a traffic basic diagram, such as jam density, free flow speed, critical density, maximum traffic capacity and the like. ② parameters for defining velocity distribution, such as mean variance for defining normal distribution, method and random seed for generating random number. And thirdly, a random algorithm for lane selection and on-line point selection and a random seed. And fourthly, the valid period (time period or number of vehicles) of the departure point.

Based on the description of the foregoing vehicle processing method embodiments, the embodiments of the present application also disclose a vehicle processing apparatus, which may be a computer program (including program code) running in a computer device. The vehicle processing device may perform various steps in the method flows shown in fig. 2, 4, and 6. Referring to fig. 7, the vehicle processing apparatus may operate the following units:

a determining unit 701, configured to determine, according to a reference point of a departure point in a road area, a departure area of the departure point from the road area;

a processing unit 702, configured to control the departure point to generate a transportation vehicle according to a traffic basic map in the departure area when the departure time of the departure point arrives; wherein the traffic basic map is used for describing the relationship among the traffic flow, the traffic density and the speed in the traffic network.

In one embodiment, the first departure time of the departure point includes: the starting time of the activation time period of the departure point;

the non-first departure time of the departure point is determined according to the previous departure time and the departure time interval of the departure point; the departure time interval of the departure point is a fixed value, or the departure time interval of the departure point obeys exponential distribution.

In another embodiment, the departure point generates a transportation vehicle within a validity period;

wherein the validity period comprises: the activation time period of the departure point or the time period from the simulation starting moment to the target moment; the target time refers to: the time when the number of traffic vehicles generated by the departure point is equal to the target number.

In another embodiment, the road region includes one or more lanes; and when the departure time of the departure point arrives, if the departure area covers at least one lane in the road area, the triggering processing unit 702 executes the step of controlling the departure point to generate a traffic vehicle according with the traffic law in the departure area according to the traffic basic map;

when the processing unit 702 is configured to control the departure point to generate a transportation vehicle according to the traffic basic map in the departure area, the processing unit may specifically be configured to:

selecting a point in the departure area as a current position from at least one lane covered by the departure area;

if the current position meets the feasible conditions according to the position information of the current position, controlling the departure point to generate a traffic vehicle at the current position;

and setting an initial speed for the traffic vehicles generated at the current position based on the traffic basic map so as to enable the generated traffic vehicles to accord with traffic laws.

In another embodiment, the processing unit 702 may be further configured to:

determining at least one lane centerline from the road area adjacent to the reference point based on the position of the reference point in the road area;

selecting a lane central line corresponding to the minimum distance from the at least one lane central line according to the distance between the reference point and each lane central line; taking the lane where the selected lane center line is located as a main lane of the departure point;

and if the lane center line of the main lane is intersected with the departure area, determining that the main lane is covered by the departure area.

In another embodiment, the processing unit 702 may be further configured to:

inquiring lanes meeting lane conditions in the road area according to the position relation between the lane central line of each lane in the road area and the departure area; the lane conditions include: the lane direction is the same as that of the main lane, and the lane center line is intersected with the departure area;

and if the lane meeting the lane condition exists in the road area, taking the lane meeting the lane condition as a secondary lane of the departure point, and determining that the secondary lane is covered by the departure area.

In another embodiment, when the processing unit 702 is configured to select, as the current position, a point located in the departure area from at least one lane covered by the departure area, the processing unit may be specifically configured to:

selecting a point as a current position on a departure line of each lane covered by the departure area, wherein the departure line of each lane is positioned in the departure area;

the lane covering area is that the lane covering area intersects with the center line of the lane; the determining mode of the departure line of any lane covered by the departure area comprises the following steps: and determining two intersection points between the lane central line of any lane and the departure area, and determining the departure line of any lane in a line segment between the two intersection points.

In another embodiment, when the processing unit 702 is configured to determine the exit line of any lane in the line segment between the two intersection points, it may specifically be configured to:

detecting a target area in the departure area, the road area including: preparing a road surface area of a target road for departure, wherein the reference point is located in the road surface area; the target area includes: an overlapping region between an irrelevant region other than the road surface region in the road region and the road surface region;

if the target area is not detected, or the target area is detected but the line segment between the two intersection points is not located in the target area, taking the line segment between the two intersection points as the exit line of any lane;

and if the target area is detected and part of the line segments between the two intersection points are located in the target area, taking the rest line segments which are not located in the target area in the line segments between the two intersection points as the exit lines of any lane.

In another embodiment, when the number of lanes of at least one lane covered by the departure area is 1, the at least one lane is a main lane of the departure point;

correspondingly, when the processing unit 702 is configured to select one point as the current position on the departure line of each lane covered by the departure area, the processing unit may be specifically configured to: and randomly selecting a point as the current position on the departure line of the main lane.

In another embodiment, when the simulation is started, the simulation clock is started, and each time the simulation clock advances by one step, whether the departure time of the departure point reaches is triggered and detected; the processing unit 702 may also be configured to:

and if the current position is judged not to meet the feasible condition according to the position information of the current position, controlling the simulation clock to continue to advance.

In another embodiment, when the number of lanes of at least one lane covered by the departure area is greater than 1, the at least one lane includes: a main lane of the departure point and a slave lane of the departure point; correspondingly, when the processing unit 702 is configured to select one point as the current position on the departure line of each lane covered by the departure area, the processing unit may be specifically configured to:

putting the main lane and each auxiliary lane of the departure point into a lane selection pool;

and selecting a lane from the lane selection pool as a current lane, and selecting a point on a departure line of the current lane as a current position.

if the current position is judged not to meet the feasible conditions according to the position information of the current position, the current lane is removed from the lane selection pool;

after the current lane is eliminated, judging whether a lane exists in the lane selection pool or not;

if the lane exists in the lane selection pool, selecting the current lane from the lane selection pool again until the current position meeting the feasible condition is found, or until no lane exists in the lane selection pool;

and if no lane exists in the lane selection pool, controlling the simulation clock to continue to advance.

In another embodiment, the processing unit 702 may be further configured to:

when the departure time of the departure point arrives, if the departure area does not cover any lane in the road area, making a perpendicular line from the reference point to the lane center line of the main lane of the departure point to obtain a foot, and determining the position of the foot as the current position;

if the current position meets the feasible conditions according to the position information of the current position, controlling the departure point to generate a traffic vehicle at the current position; setting an initial speed for the traffic vehicle generated at the current position based on the traffic basic map so as to enable the generated traffic vehicle to accord with traffic laws;

if the current position is judged not to meet the feasible condition according to the position information of the current position, controlling a simulation clock to continue to advance; and triggering and detecting whether the departure time of the departure point arrives or not every time the simulation clock advances one step.

In another embodiment, the processing unit 702 when being configured to set the initial speed for the transportation vehicle generated at the current position based on the traffic basic map can be specifically configured to:

determining a first speed for the traffic vehicles generated at the current location; the first speed is preset or generated by a speed profile;

determining the vehicle distance corresponding to the traffic vehicle generated at the current position, and determining the corresponding traffic flow density according to the determined vehicle distance; determining the speed corresponding to the determined traffic flow density in the traffic basic map as a second speed;

setting a minimum speed of the first speed and the second speed as an initial speed of the transportation vehicle generated at the current position.

In another embodiment, the processing unit 702 may be further configured to:

observing whether other vehicles exist in a range which is away from the current position by the distance between the vehicles along the downstream direction of the current position in a lane where the current position is located;

if no other vehicle exists, triggering and executing the step of setting the minimum speed of the first speed and the second speed as the initial speed of the traffic vehicle generated at the current position;

and if other vehicles exist, determining the running speeds of the other vehicles, and setting the minimum speed of the first speed, the second speed and the running speed as the initial speed of the traffic vehicle generated at the current position.

In another embodiment, when the time when the traffic vehicle is generated at the current position is the ith departure time of the departure point, and i is greater than 1, the traffic vehicle generated at the current position corresponds to a departure time interval, and the departure time interval is an interval between the ith departure time and the (i-1) th departure time; wherein:

when the departure area covers at least one lane in the road area, the processing unit 702, when being configured to determine the vehicle distance corresponding to the transportation vehicle generated at the current location, may specifically be configured to: multiplying the generated departure time interval corresponding to the traffic vehicle, the first speed and the number of lanes covered by the departure area to obtain the vehicle interval corresponding to the traffic vehicle generated at the current position;

in a case that the departure area does not cover any lane in the road area, the processing unit 702, when being configured to determine the vehicle distance corresponding to the traffic vehicle generated at the current location, may specifically be configured to: and multiplying the generated departure time distance corresponding to the traffic vehicle with the first speed to obtain the vehicle distance corresponding to the traffic vehicle generated at the current position.

In another embodiment, the individual traffic vehicles generated by the departure point are used to influence the driving behavior of the test vehicles in the road area;

wherein the location information of the current location includes: the lane direction of the lane where the current position is located and the area indication information corresponding to the current position, wherein the area indication information is used for indicating: a region determined at the current location based on a vehicle size; the processing unit 702 may also be configured to:

if the lane direction of the lane where the current position is located is the same as the lane direction of the lane where the test vehicle is located and no obstacle exists in the area, judging that the current position meets a feasible condition;

and if the lane direction of the lane where the current position is located is different from the lane direction of the lane where the test vehicle is located, or if the lane direction of the lane where the current position is located is the same as the lane direction of the lane where the test vehicle is located but an obstacle exists in the area, judging that the current position does not meet the feasible condition.

According to another embodiment of the present application, the units in the vehicle processing apparatus shown in fig. 7 may be respectively or entirely combined into one or several other units to form the vehicle processing apparatus, or some unit(s) may be further split into multiple functionally smaller units to form the vehicle processing apparatus, which may achieve the same operation without affecting the achievement of the technical effects of the embodiments of the present application. The units are divided based on logic functions, and in practical application, the functions of one unit can be realized by a plurality of units, or the functions of a plurality of units can be realized by one unit. In other embodiments of the present application, the vehicle-based processing device may also include other units, and in practical applications, these functions may also be implemented by assistance of other units, and may be implemented by cooperation of a plurality of units.

According to another embodiment of the present application, the vehicle processing apparatus device shown in fig. 7 may be configured by running a computer program (including program codes) capable of executing steps involved in the respective methods shown in fig. 2, fig. 4, or fig. 6 on a general-purpose computing device such as a computer including a processing element such as a Central Processing Unit (CPU), a random access storage medium (RAM), a read-only storage medium (ROM), and a storage element, and the vehicle processing method of the embodiment of the present application may be implemented. The computer program may be recorded on a computer-readable recording medium, for example, and loaded and executed in the above-described computing apparatus via the computer-readable recording medium.

According to the embodiment of the application, the departure area of the departure point can be determined from the road area according to the reference point of the departure point in the road area, and the departure area can be a circular area determined based on a certain radius by taking the reference point as the center; and controlling the departure point to generate the traffic vehicles in the departure area according to the traffic basic map every time the departure time of the departure point arrives. Since the traffic basic map describes the relationship among the traffic flow, the traffic flow density and the speed in the traffic network, the traffic flow density and the speed corresponding to the traffic vehicles generated by combining the traffic basic map both conform to objective traffic laws. Therefore, the embodiment of the application can support the user to automatically and continuously generate some traffic vehicles according with the traffic laws in the traffic area with a certain radius around the fixed position (the reference point) according to the traffic basic map by simply setting some parameters (such as parameters for generating the traffic basic map) so as to effectively improve the rationality of the traffic vehicles and the vehicle setting efficiency.

Based on the description of the method embodiment and the device embodiment, the embodiment of the application further provides a computer device. Referring to fig. 8, the computer device includes at least a processor 801, an input interface 802, an output interface 803, and a computer storage medium 804. Wherein the processor 801, the input interface 802, the output interface 803, and the computer storage medium 804 within the computer device may be connected by a bus or other means. A computer storage medium 804 may be stored in the memory of the computer device, the computer storage medium 804 being for storing a computer program comprising program instructions, the processor 801 being for executing the program instructions stored by the computer storage medium 804. The processor 801 (or CPU) is a computing core and a control core of a computer device, and is adapted to implement one or more instructions, and in particular, is adapted to load and execute one or more instructions to implement a corresponding method flow or a corresponding function.

In one embodiment, the processor 801 according to the embodiment of the present application may be configured to perform a series of vehicle processes, specifically including: determining a departure area of the departure point from the road area according to a reference point of the departure point in the road area; when the departure time of the departure point arrives, controlling the departure point to generate traffic vehicles according with traffic laws in the departure area according to a traffic basic diagram; wherein the traffic basic map is used to describe the relationship between traffic flow, traffic density and speed, etc. in the traffic network.

An embodiment of the present application further provides a computer storage medium (Memory), which is a Memory device in a computer device and is used to store programs and data. It is understood that the computer storage medium herein may include both built-in storage media in the computer device and, of course, extended storage media supported by the computer device. Computer storage media provide storage space that stores an operating system for a computer device. Also stored in this memory space are one or more instructions, which may be one or more computer programs (including program code), suitable for loading and execution by processor 801. The computer storage medium may be a high-speed RAM memory, or may be a non-volatile memory (non-volatile memory), such as at least one disk memory; and optionally at least one computer storage medium located remotely from the processor.

In one embodiment, one or more instructions stored in a computer storage medium may be loaded and executed by a processor to perform the corresponding steps in the method embodiments described above with respect to FIG. 2, FIG. 4, or FIG. 6; in particular implementations, one or more instructions in a computer storage medium may be loaded by a processor and perform the steps of:

In one embodiment, the road region includes one or more lanes therein; when the departure time of the departure point arrives, if the departure area covers at least one lane in the road area, triggering and executing the step of controlling the departure point to generate traffic vehicles according with traffic rules in the departure area according to a traffic basic diagram;

wherein, when controlling the departure point to generate a traffic vehicle according with the traffic law in the departure area according to the traffic basic map, the one or more instructions can be loaded and specifically executed by the processor:

In another embodiment, the one or more instructions may be loaded by the processor and specifically executed to:

In another embodiment, the one or more instructions may be loaded and specifically executed by a processor to:

inquiring lanes meeting lane conditions in the road area according to the position relation between the lane central line of each lane in the road area and the exit area; the lane conditions include: the lane direction is the same as that of the main lane, and the lane center line is intersected with the departure area;

In another embodiment, when a point in the departure area is selected as the current position in at least one lane covered by the departure area, the one or more instructions may be loaded by the processor and specifically executed:

the lane covered by the departure area means that the departure area is intersected with the lane central line of the lane; the determining mode of the departure line of any lane covered by the departure area comprises the following steps: and determining two intersection points between the lane central line of any lane and the departure area, and determining the departure line of any lane in a line segment between the two intersection points.

In another embodiment, when the exit line of any lane is determined in the line segment between the two intersection points, the one or more instructions may be loaded by the processor and specifically executed to:

and if the target area is detected and part of the line segments between the two intersection points are located in the target area, using the rest line segments which are not located in the target area in the line segments between the two intersection points as the exit lines of any lane.

correspondingly, when one point is selected as the current position on the departure line of each lane covered by the departure area, the one or more instructions can be loaded and specifically executed by the processor: and randomly selecting a point as the current position on the departure line of the main lane.

In another embodiment, when the simulation is started, the simulation clock is started, and each time the simulation clock advances by one step, whether the departure time of the departure point reaches is triggered and detected; the one or more instructions may be loaded and specifically executed by a processor to:

In another embodiment, when the number of lanes of at least one lane covered by the departure area is greater than 1, the at least one lane includes: a main lane of the departure point and a slave lane of the departure point; correspondingly, when one point is selected as the current position on the departure line of each lane covered by the departure area, the one or more instructions can be loaded and specifically executed by the processor:

and selecting a lane from the lane selection pool as a current lane, and selecting a point from a departure line of the current lane as a current position.

In another embodiment, when the simulation is started, the simulation clock is started, and each time the simulation clock advances by one step, whether the departure time of the departure point reaches is triggered and detected; the one or more instructions may be loaded and specifically executed by a processor:

when the departure time of the departure point arrives, if the departure area does not cover any lane in the road area, making a perpendicular line from the reference point to the lane center line of the main lane of the departure point to obtain a foot drop, and determining the position of the foot drop as the current position;

if the current position meets the feasible conditions according to the position information of the current position, controlling the departure point to generate a traffic vehicle at the current position; setting an initial speed for the traffic vehicle generated at the current position based on the traffic basic diagram so as to enable the generated traffic vehicle to accord with the traffic law;

if the current position is judged to not meet the feasible conditions according to the position information of the current position, controlling a simulation clock to continue to advance; and triggering and detecting whether the departure time of the departure point arrives or not every time the simulation clock advances one step.

In another embodiment, when setting an initial speed for the transportation vehicle generated at the current location based on the traffic basic map, the one or more instructions may be loaded and executed by the processor to:

determining a first speed for the traffic vehicle generated at the current location; the first speed is preset or generated by a speed profile;

determining the vehicle distance corresponding to the traffic vehicle generated at the current position, and determining the corresponding traffic flow density according to the determined vehicle distance; determining the speed corresponding to the determined traffic flow density in the traffic basic graph as a second speed;

if no other vehicles exist, triggering and executing the step of setting the minimum speed of the first speed and the second speed as the initial speed of the traffic vehicle generated at the current position;

in a case that the departure area covers at least one lane in the road area, when determining a vehicle distance corresponding to the traffic vehicle generated at the current position, the one or more instructions may be loaded and specifically executed by the processor: multiplying the generated departure time interval corresponding to the traffic vehicle, the first speed and the number of lanes covered by the departure area to obtain the vehicle interval corresponding to the traffic vehicle generated at the current position;

in a case that the departure area does not cover any lane in the road area, when the vehicle distance corresponding to the traffic vehicle generated at the current position is determined, the one or more instructions may be loaded and specifically executed by the processor: and multiplying the generated departure time distance corresponding to the traffic vehicle with the first speed to obtain the vehicle distance corresponding to the traffic vehicle generated at the current position.

wherein the location information of the current location includes: the lane direction of the lane where the current position is located and the area indication information corresponding to the current position, wherein the area indication information is used for indicating: a region determined at the current location based on a vehicle size; the one or more instructions may be loaded and specifically executed by a processor:

if the lane direction of the lane where the current position is located is the same as the lane direction of the lane where the test vehicle is located, and no obstacle exists in the area, judging that the current position meets a feasible condition;

It should be noted that according to an aspect of the present application, a computer program product or a computer program is also provided, and the computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer readable storage medium. The computer instructions are read by a processor of the computer device from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the methods provided in the various alternatives to the aspects of the method embodiments illustrated in fig. 2, 4 or 6 described above. It should be understood that the above disclosure is only for the preferred embodiment of the present application and should not be taken as limiting the scope of the present application, so that the present application may be covered by the claims.

Claims

1. A vehicle processing method, characterized by comprising:

2. The method of claim 1, wherein the first departure time of the departure point comprises: the starting time of the activation time period of the departure point;

3. The method of claim 1, wherein the departure point generates a transportation vehicle within a validity period;

4. The method of claim 1, wherein the road region includes one or more lanes therein; when the departure time of the departure point arrives, if the departure area covers at least one lane in the lane area, triggering and executing the step of controlling the departure point to generate traffic vehicles according with traffic rules in the departure area according to a traffic basic diagram;

wherein the controlling the departure point to generate the traffic vehicles according with the traffic law in the departure area according to the traffic basic map comprises the following steps:

5. The method of claim 4, wherein the method further comprises:

selecting a lane central line corresponding to the minimum distance from the at least one lane central line according to the distance between the reference point and each lane central line; taking the lane where the center line of the selected lane is located as a main lane of the departure point;

6. The method of claim 5, wherein the method further comprises:

if the lane meeting the lane condition exists in the road area, the lane meeting the lane condition is used as a secondary lane of the departure point, and the fact that the secondary lane is covered by the departure area is determined.

7. The method according to any one of claims 4-6, wherein said selecting a point located in said departure area as a current location in at least one lane covered by said departure area comprises:

the lane covering area is that the lane covering area intersects with the center line of the lane; the determining mode of the exit line of any lane covered by the exit area comprises the following steps: and determining two intersection points between the lane central line of any lane and the departure area, and determining the departure line of any lane in a line segment between the two intersection points.

8. The method of claim 7, wherein said determining an exit line of said either lane in a line segment between said two intersections comprises:

detecting a target area in the departure area, the road area including: preparing a road surface area of a target road for departure, wherein the reference point is located in the road surface area; the target area includes: an overlapping region between an irrelevant region other than the road surface region and the road surface region in the road region;

9. The method of claim 7, wherein when the number of lanes of at least one lane covered by the departure area is 1, the at least one lane is a main lane of the departure point;

on the departure line of each lane covered by the departure area, selecting a point as the current position includes: and randomly selecting a point as the current position on the departure line of the main lane.

10. The method of claim 9, wherein a simulation clock is started at the start of the simulation, said simulation clock triggering the detection of whether the departure time of said departure point has been reached each time a step is advanced; the method further comprises the following steps:

11. The method of claim 7, wherein when the number of lanes of the at least one lane covered by the departure area is greater than 1, the at least one lane comprises: a main lane of the departure point and a slave lane of the departure point;

on the departure line of each lane covered by the departure area, selecting a point as the current position, including:

12. The method of claim 11, wherein a simulation clock is started at the beginning of the simulation, said simulation clock triggering the detection of whether the departure time of said departure point has arrived at each advance of one step; the method further comprises the following steps:

if the current position does not meet the feasible conditions according to the position information of the current position, rejecting the current lane in the lane selection pool;

13. The method of claim 4, wherein the method further comprises:

14. The method of claim 4 or 13, wherein the setting an initial speed for the traffic vehicle generated at the current location based on the traffic basic map comprises:

15. The method of claim 14, wherein the method further comprises:

16. The method of claim 14, wherein when the time at which the transportation vehicle is generated at the current location is an ith departure time of the departure point, and i is greater than 1, the transportation vehicle generated at the current location corresponds to a departure time slot, and the departure time slot is an interval between the ith departure time and an i-1 th departure time; wherein:

when the departure area covers at least one lane in the road area, the determining a vehicle distance corresponding to the traffic vehicle generated at the current position includes: multiplying the generated departure time interval corresponding to the traffic vehicle, the first speed and the number of lanes covered by the departure area to obtain the vehicle interval corresponding to the traffic vehicle generated at the current position;

when the departure area does not cover any lane in the road area, the determining a vehicle distance corresponding to the traffic vehicle generated at the current position includes: and multiplying the generated departure time distance corresponding to the traffic vehicle with the first speed to obtain the vehicle distance corresponding to the traffic vehicle generated at the current position.

17. The method according to claim 4 or 13, characterized in that the individual traffic vehicles generated by the departure point are used to influence the driving behavior of the test vehicles in the road area;

wherein the location information of the current location includes: the lane direction of the lane where the current position is located and the area indication information corresponding to the current position, wherein the area indication information is used for indicating: a region determined at the current location based on a vehicle size; the method further comprises the following steps:

18. A vehicle processing apparatus, characterized by comprising:

the determining unit is used for determining a departure area of the departure point from the road area according to a reference point of the departure point in the road area;

the processing unit is used for controlling the departure point to generate traffic vehicles according with traffic laws in the departure area according to the traffic basic diagram when the departure time of the departure point arrives; wherein the traffic basic map is used for describing the relationship among the traffic flow, the traffic density and the speed in the traffic network.

19. A computer device comprising an input interface and an output interface, further comprising:

a computer storage medium having one or more instructions stored thereon, the one or more instructions adapted to be loaded by the processor and to perform the vehicle processing method of any of claims 1-17.

20. A computer storage medium having one or more instructions stored thereon, the one or more instructions adapted to be loaded by a processor and to perform the vehicle processing method of any of claims 1-17.