CN115238456A

CN115238456A - Internet of vehicles scene simulation method and system

Info

Publication number: CN115238456A
Application number: CN202210683431.7A
Authority: CN
Inventors: 李森林; 李诒雯; 郝江波; 邹元杰; 孟振宇
Original assignee: Wuhan Kotei Informatics Co Ltd
Current assignee: Wuhan Kotei Informatics Co Ltd
Priority date: 2022-06-14
Filing date: 2022-06-14
Publication date: 2022-10-25

Abstract

The invention provides a method and a system for simulating a scene of Internet of vehicles, wherein the method comprises the following steps: performing joint simulation based on SUMO traffic flow simulation software and Omnet + + network communication simulation software, and building a crossing driving scheme simulation scene based on V2X; the traffic information is transmitted to VTD traffic simulation software through an SUMO interface, and secondary development is carried out on SUMO-plug-in VTD so as to receive traffic information data transmitted by SUMO; after the traffic information data are matched and classified by the VTD plug-in, a scene library owned by VTD traffic simulation software is called to perform 3D rendering on vehicles, buildings, roads and traffic signs, so that 3D visual real-time animation of the traffic simulation scene is generated, and the animation of a first visual angle of a driver is simulated. By the scheme, the 3D simulation traffic scene can be constructed, the motion process of the vehicle can be observed more visually, the driving strategy can be optimized conveniently, and the simulation scene development efficiency is improved.

Description

Internet of vehicles scene simulation method and system

Technical Field

The invention belongs to the technical field of Internet of vehicles, and particularly relates to a method and a system for simulating a scene of the Internet of vehicles.

Background

The vehicle networking is based on technologies such as wireless communication, sensors and fusion control, vehicles, pedestrians, roads and road side facilities are integrated into an organic whole, functions such as information interaction and traffic control among system units are achieved, and therefore road service capacity is improved, and accident rate is reduced. In a real scene, a large amount of manpower, material resources and financial resources are consumed for vehicle networking research and test work, and the safety of workers cannot be guaranteed.

The vehicle networking simulation platform is jointly constructed by carrying out joint simulation through special traffic flow simulation software and special network communication simulation software, and a simulation result visualization interface in the simulation mode is almost based on a 2D plane picture, so that vehicle motion details cannot be visually observed to design and optimize a vehicle motion strategy.

Disclosure of Invention

In view of this, the embodiment of the invention provides a method and a system for simulating a scene of an internet of vehicles, which are used for solving the problem that the existing simulation of the internet of vehicles is based on a 2D scene picture and the details of vehicle motion are difficult to observe visually.

In a first aspect of an embodiment of the present invention, a method for simulating a scenario in a vehicle networking system is provided, including:

performing joint simulation based on SUMO traffic flow simulation software and Omnet + + network communication simulation software, and constructing a crossing driving scheme simulation scene based on V2X;

the traffic information is transmitted to VTD traffic simulation software through an SUMO interface, and secondary development is carried out on SUMO-plug-in VTD so as to receive traffic information data transmitted by SUMO;

after the traffic information data are matched and classified by the VTD plug-in, a scene library owned by VTD traffic simulation software is called to perform 3D rendering on vehicles, buildings, roads and traffic signs, so that 3D visual real-time animation of the traffic simulation scene is generated, and the animation of a first visual angle of a driver is simulated.

In a second aspect of an embodiment of the present invention, there is provided a system for vehicle network scene simulation, including:

the simulation scene building module is used for carrying out joint simulation based on SUMO traffic flow simulation software and Omnet + + network communication simulation software and building a crossing driving scheme simulation scene based on V2X;

the traffic information transmission module is used for transmitting the traffic information to VTD traffic simulation software through an SUMO interface, and carrying out secondary development on SUMO-plug-in VTD so as to receive traffic information data transmitted by SUMO;

and the 3D scene simulation module is used for calling a scene library owned by VTD traffic simulation software after the VTD plug-in unit matches and classifies the traffic information data, performing 3D rendering on vehicles, buildings, roads and traffic signs, generating 3D visual traffic simulation scene real-time animation and simulating first visual angle animation of a driver.

In a third aspect of the embodiments of the present invention, there is provided an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present invention.

In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, in which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the method provided by the first aspect of the embodiments of the present invention.

In the embodiment of the invention, the simulation of a 3D visual traffic scene is realized by performing combined simulation on the set-up V2X traffic flow scene and VTD simulation software, the driving scene can be visually observed, the first visual angle of a driver can be simulated, compared with the traditional 2D simulation scene of the Internet of vehicles, the motion process of a vehicle can be more visually and truly displayed, the microcosmic driving strategy can be conveniently adjusted under the real driving scene, the development of the driving strategy is facilitated,

meanwhile, a first visual angle of a driver is provided to verify unreasonable positions in a driving design scheme, so that the algorithm and scheme design can be adjusted, modified and optimized, the accident rate can be reduced, the road passing efficiency can be improved, and the decision of a real driving scene can be better met. When scene parameters are adjusted, file parameter configuration work in a VTD is not needed, related parameters can be directly modified in V2X simulation software, a corresponding 3D animation scene is generated by the VTD, the workload of scene construction and manual configuration is reduced, the work difficulty of developers is reduced, and the scene simulation efficiency is improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

Fig. 1 is a schematic flow chart of a method for simulating a scene in a vehicle networking system according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a SUMO simulation interface according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a 3D simulation interface according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a system for scene simulation in Internet of vehicles according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be understood that the terms "comprises" and "comprising," when used in this specification or claims and in the accompanying drawings, are intended to cover a non-exclusive inclusion, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.

It should be noted that, most of the existing V2X car networking simulation is implemented by jointly simulating a real car networking scene through traffic flow simulation software and network communication simulation software, a simulation interface of the existing car networking simulation is often in a form of a planar 2D and a block diagram illustration, an observation simulation angle can only be a macroscopic viewing angle, simulation of a first viewing angle of a driver is not provided, a designed scheme cannot be judged through the viewing angle of the driver, and a requirement for visually observing a simulated traffic strategy cannot be met. The 3D visual animation rendering function provided by the VTD is very powerful, but the VTD cannot realize the simulation of the network communication function in the car networking, such as the simulation of the data link layer, the network layer, and the Mac layer in the communication network, and cannot directly complete the construction and implementation of the entire V2X scene in the VTD. And the process of independently designing the traffic scene in the VTD is very complicated, time-consuming and labor-consuming, the road, the design, the route planning and the vehicle behavior need to be manually set up for the specific scene, when the motion state and the traffic scene of the vehicle under different parameters in the designed scheme are confirmed, the finished scene needs to be modified and configured for many times, meanwhile, other files are generated, manual configuration is needed, time and labor are wasted, and the simulation efficiency is reduced.

In the embodiment of the invention, the established V2X traffic flow scene and the VTD simulation software are subjected to joint simulation, the original 2D simulation scene of the V2X vehicle networking can be converted into the 3D visual dynamic scene through the VTD simulation software, and the 3D visual observation of the V2X simulation strategy and the simulation of the first visual angle of the driver are realized.

Referring to fig. 1, a schematic flow diagram of a method for simulating a scene in a vehicle networking system according to an embodiment of the present invention includes:

s101, performing joint simulation based on SUMO traffic flow simulation software and Omnet + + network communication simulation software, and building a crossing driving scheme simulation scene based on V2X;

the SUMO (Simulation of Urban Mobility) traffic flow Simulation software is open-source, micro and spatially continuous traffic Simulation software, can process a large traffic network, realizes traffic flow micro control and performs traffic Simulation. The Omnet + + (object modulated network testbed in C + +) network communication simulation software is open-source multi-protocol network simulation software, is used as an open network simulation platform based on component modularization, has a perfect graphical interface and an embeddable simulation kernel, and can be used for simulation of a distributed system and a communication network. V2X (vehicle to X) is information exchange between vehicles and the outside, and can enable the vehicles, the vehicles and the base station to communicate with each other, so that traffic information such as real-time road conditions, road information and pedestrian information is obtained, and driving safety, traffic efficiency and the like are improved.

And designing a traffic scene based on the SUMO, designing workshop communication and driving strategies based on Omnet + +, and the like, and completing construction of a basic driving simulation scene.

Specifically, an intersection traffic road scene and a vehicle motion traffic flow are constructed in traffic flow simulation software SUMO, and corresponding traffic flow parameters are configured; the method comprises the following steps of realizing a communication function between vehicles in network communication software Omnet, and configuring vehicle network communication parameters in a driving scene, wherein the vehicle network communication parameters comprise a packet sending frequency, a data packet length, data packet contents, a communication range and the like; setting a driving strategy, an acceleration and deceleration strategy, an emergency vehicle driving strategy and the like of a vehicle at an application layer of the network communication software Omnet; setting traffic road scene parameters in traffic flow simulation software SUMO, wherein the traffic road scene parameters at least comprise road length, lane number, road speed limit, timing of crossing signal lamps, vehicle number, vehicle speed, vehicle length and width, design of crossroads, occurrence time of special vehicles and addition of emergency vehicles.

The emergency vehicle driving strategy comprises an emergency vehicle light control request strategy, the emergency vehicle light control request strategy is coded and set in an application layer in network communication software Omnet + +, and the light control request strategy comprises the following steps:

after the emergency vehicle acquires signal information of a signal lamp at an intersection, whether the vehicle can pass through the current intersection at the current speed is judged, if the vehicle reaches the intersection at the current speed, the signal lamp is in a red light state, the signal lamp indicates that the emergency vehicle cannot pass through the intersection, and when the emergency vehicle is at a certain distance from the intersection, a light control request is sent to the signal lamp in advance to request other direction signal lamps to be changed into the red light state, and the passing of common vehicles is forbidden, so that the emergency response time of the vehicle is reduced.

The vehicle can be judged according to the current speed of the vehicle, the remaining passing time displayed by the signal lamp and the distance needing to be driven through the intersection, and in practice, when the vehicle cannot pass through the intersection at the current speed, the vehicle can still be judged to normally pass through within the speed-limiting range of the intersection when passing through the intersection in an accelerating mode. If the emergency vehicle can not pass through the intersection normally, the vehicle passing direction is set to keep the green light before the emergency vehicle passes through the intersection, so that the emergency vehicle can be guaranteed to pass through. In some embodiments, if there are multiple light control requests, the light control manner may be set according to the direction, speed, intersection arrival time, emergency type, and the like of the emergency vehicle, which is not limited herein.

S102, transmitting the traffic information to VTD traffic simulation software through an SUMO interface, and carrying out secondary development on SUMO-plug-in VTD to receive traffic information data transmitted by SUMO;

in order to ensure the interface matching between the simulation software, the coupling environment between the simulation software needs to be analyzed, and the matched software version is selected to ensure that the interface between the software normally transmits data to perform communication joint debugging, preferably, in this embodiment, the sumo1.6.0 version and the Omnet + +4.1.0 version are selected.

The VTD (Virtual Test Drive) traffic simulation software is used as a complex traffic scene simulation tool and can be used for 3D simulation of a vehicle driving scene. The VTD provides an open interface for the third party component, and the support API takes the third party module as a plug-in of the VTD. Thus, the VTD in the present embodiment can receive traffic scene data delivered by SUMO.

Specifically, a Traci interface in traffic flow simulation software SUMO is connected with a plug-in module in traffic simulation software VTD, the plug-in module is developed secondarily, and traffic information data transmitted by the SUMO is received, wherein the traffic information data at least comprises vehicle names, vehicle motion tracks, vehicle motion states, signal lamp states, road speed limits, vehicle speeds, lane numbers and vehicle posture changes.

After acquiring information such as vehicles, lanes, signal lamps and the like in a traffic scene from the SUMO, the VTD can call a scene library carried by the VTD, and 3D rendering model construction is carried out on the traffic flow and the scene information in the acquired SUMO in the VTD.

And S103, after the traffic information data are matched and classified by the VTD plug-in, calling a scene library owned by VTD traffic simulation software, performing 3D rendering on vehicles, buildings, roads and traffic signs, generating 3D visual traffic simulation scene real-time animation, and simulating first visual angle animation of a driver.

The scene library of the VTD traffic simulation software contains simulation models of different road scenes, and if the library in the VTD cannot be matched with the current scene, 3D files can be designed by self, and then the 3D files are imported into the VTD for traffic scene matching. And rendering the current traffic scene by calling a self-contained scene library and setting parameters of the traffic flow and the scene. The rendering objects at least comprise vehicles, buildings, roads, traffic signs, and ground objects on the road side such as green belts, guardrails, trees, street lamps and the like.

Optionally, the traffic flow simulation software SUMO is used as a client, the traffic simulation software VTD is used as a server, and the two are communicated by a TCP/IP protocol;

the traffic scene parameters set by the SUMO end are transmitted and provided to the VTD end through a Traci interface, and the VTD end analyzes the traffic scene parameters according to the traffic scene information provided by the SUMO end to generate a 3D simulation scene which can be constructed in the VTD;

and adjusting and configuring parameters in the VTD, simulating a first visual angle of a driver to observe a simulation scene, judging the current driving condition, and changing the driving behavior to adjust the motion attitude of the vehicle.

For example, a 2D simulation scene constructed based on SUMO is shown in fig. 2, and a 3D simulation scene generated based on VTD is shown in fig. 3, it is obvious that, compared to the traffic scene shown in fig. 2, the 3D simulation traffic scene in fig. 3 can more intuitively observe the motion process of the target vehicle, and further, the driving strategy can be adjusted.

In the embodiment, compared with a 2D vehicle networking simulation traffic scene directly developed based on SUMO and Omnet + +, a more visual 3D simulation scene can be provided, the motion process of a vehicle can be observed microscopically, and compared with a 3D simulation scene directly developed based on VTD alone, the construction of a V2X scene cannot be realized, and the simulation process is very complex, time-consuming and labor-consuming.

Through joint simulation of the established V2X traffic flow scene and the VTD simulation software, the original V2X vehicle networking 2D simulation scene can be converted into a 3D visual dynamic scene through the VTD simulation software, and 3D visual observation of the V2X simulation strategy and simulation of a first visual angle of a driver are achieved. The method is convenient for observing the motion process of the vehicle, so that the development and design of a microcosmic driving strategy can be realized, the driving scheme and algorithm can be continuously optimized, the accident probability is reduced, the road traffic efficiency is improved, the workload of 3D simulation scene development is effectively reduced, and the construction and generation efficiency of different scenes is improved.

It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.

Fig. 4 is a schematic structural diagram of a system for simulating a scenario in a car networking system according to an embodiment of the present invention, where the system includes:

the simulation scene building module 410 is used for carrying out joint simulation based on SUMO traffic flow simulation software and Omnet + + network communication simulation software and building a crossing driving scheme simulation scene based on V2X;

specifically, the simulation scene building module includes:

the traffic scene construction unit is used for constructing intersection traffic road scenes and vehicle motion traffic flows in traffic flow simulation software SUMO and configuring corresponding traffic flow parameters;

the communication implementation unit is used for implementing the communication function between vehicles in the network communication software Omnet and configuring vehicle network communication parameters in a driving scene;

the driving strategy setting unit is used for setting a driving strategy, an acceleration and deceleration strategy and an emergency driving strategy of the vehicle at an application layer of the network communication software Omnet;

and the scene parameter setting unit is used for setting traffic road scene parameters in traffic flow simulation software SUMO, wherein the traffic road scene parameters at least comprise road length, lane number, road speed limit, crossing signal lamp timing, vehicle number, vehicle speed, vehicle length and width, crossing design, special vehicle occurrence time and emergency vehicle addition.

Wherein the emergency vehicle driving strategy comprises:

coding and setting an emergency vehicle light control request strategy in an application layer in network communication software Omnet + +;

the light control request strategy comprises: when the emergency vehicle obtains signal information of a signal lamp at an intersection, whether the vehicle can pass through the current intersection at the current speed is judged, if the vehicle reaches the intersection at the current speed, the signal lamp is in a red light state, the signal lamp indicates that the emergency vehicle cannot pass through the intersection, and when the emergency vehicle is at a certain distance away from the intersection, a light control request is sent to the signal lamp in advance to request other direction signal lamps to be changed into the red light state, and the vehicle is prohibited from passing through, so that the emergency response time of the vehicle is ensured.

The traffic information transmission module 420 is configured to transmit the traffic information to the VTD traffic simulation software through the SUMO interface, and perform secondary development on the SUMO-plug-in the VTD to receive the traffic information data transmitted by the SUMO;

specifically, a Traci interface in traffic flow simulation software SUMO is connected with a plug-in module in traffic simulation software VTD, the plug-in module is developed for the second time, and traffic information data transmitted by the SUMO are received;

the traffic information data at least comprises vehicle names, vehicle motion tracks, vehicle motion states, signal lamp states, road speed limits, vehicle speeds, lane numbers and vehicle posture changes.

And the 3D scene simulation module 430 is used for calling a scene library owned by VTD traffic simulation software after the VTD plug-in unit matches and classifies the traffic information data, performing 3D rendering on vehicles, buildings, roads and traffic signs, generating 3D visual traffic simulation scene real-time animation and simulating first-view animation of a driver.

Preferably, the traffic flow simulation software SUMO is used as a client, the traffic simulation software VTD is used as a server, and the two are communicated by a TCP/IP protocol;

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the modules described above may refer to corresponding processes in the foregoing method embodiments, and are not described herein again.

Fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic equipment is used for building a 3D simulation scene of the Internet of vehicles. As shown in fig. 5, the electronic apparatus 5 of this embodiment includes: a memory 510, a processor 520, and a system bus 530, the memory 510 including an executable program 5101 stored thereon, it being understood by those skilled in the art that the electronic device structure shown in fig. 5 does not constitute a limitation of an electronic device and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.

The following describes each component of the electronic device in detail with reference to fig. 5:

the memory 510 may be used to store software programs and modules, and the processor 520 may execute various functional applications of the electronic device and data processing by operating the software programs and modules stored in the memory 510. The memory 510 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as cache data) created according to the use of the electronic device, and the like. Further, the memory 510 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The memory 510 contains an executable program 5101 of the network request method, the executable program 5101 may be divided into one or more modules/units, which are stored in the memory 510 and executed by the processor 520 to implement construction of a 3D simulated traffic scene and the like, and the one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing an execution process of the computer program 5101 in the electronic device 5. For example, the computer program 5101 may be divided into a simulation scene construction module, a traffic information transmission module, a 3D scene simulation module, and the like.

The processor 520 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 510 and calling data stored in the memory 510, thereby performing overall status monitoring of the electronic device. Alternatively, processor 520 may include one or more processing units; preferably, the processor 520 may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 520.

The system bus 530 is used to connect functional units inside the computer, and CAN transmit data information, address information, and control information, and may be, for example, a PCI bus, an isa bus, a CAN bus, or the like. The instructions of the processor 520 are transferred to the memory 510 through the bus, the memory 510 feeds data back to the processor 520, and the system bus 530 is responsible for data and instruction interaction between the processor 520 and the memory 510. Of course, the system bus 530 may also access other devices, such as network interfaces, display devices, and the like.

In this embodiment of the present invention, the executable program executed by the processing 520 included in the electronic device includes:

performing joint simulation based on SUMO traffic flow simulation software and Omnet + + network communication simulation software, and building a crossing driving scheme simulation scene based on V2X;

It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. A method for simulating a scene of a vehicle networking is characterized by comprising the following steps:

2. The method according to claim 1, wherein the joint simulation is performed based on SUMO traffic flow simulation software and Omnet + + network communication simulation software, and the building of V2X-based intersection driving scheme simulation scenes comprises:

constructing a crossing traffic road scene and a vehicle motion traffic flow in traffic flow simulation software SUMO, and configuring corresponding traffic flow parameters;

realizing the communication function between vehicles in the network communication software Omnet, and configuring vehicle network communication parameters in a driving scene;

setting a driving strategy, an acceleration and deceleration strategy and an emergency vehicle driving strategy of a vehicle on an application layer of network communication software Omnet;

setting traffic road scene parameters in traffic flow simulation software SUMO, wherein the traffic road scene parameters at least comprise road length, lane number, road speed limit, timing of intersection signal lamps, vehicle number, vehicle speed, vehicle length and width, design of intersections, occurrence time of special vehicles and addition of emergency vehicles.

3. The method of claim 2, wherein the emergency vehicle driving strategy comprises:

the light control request strategy comprises: after the emergency vehicle acquires signal information of a signal lamp of the intersection, whether the vehicle can pass through the current intersection at the current speed is judged, if the vehicle reaches the intersection at the current speed, the signal lamp is in a red light state, the signal lamp indicates that the emergency vehicle cannot pass through the intersection, and when the emergency vehicle is at a certain distance from the intersection, a light control request is sent to the signal lamp in advance to request other direction signal lamps to be changed into the red light state, and the common vehicle is forbidden to pass through, so that the emergency response time of the vehicle is reduced.

4. The method of claim 1, wherein the secondarily developing a SUMO-plug-in the VTD to receive the SUMO transmitted traffic information data comprises:

butting a Traci interface in traffic flow simulation software SUMO with a plug-in traffic simulation software VTD, carrying out secondary development on the plug-in, and receiving traffic information data transmitted by SUMO;

5. The method of claim 1, wherein the VTD plug-in module is configured to, after matching and classifying the traffic information data, call a scene library owned by VTD traffic simulation software to perform 3D rendering on vehicles, buildings, roads and traffic signs, generate a 3D visualized real-time animation of the traffic simulation scene, and simulate the animation of the first view angle of the driver, and the method comprises:

taking traffic flow simulation software SUMO as a client and traffic simulation software VTD as a server, and communicating the SUMO and the VTD by a TCP/IP protocol;

6. A system for Internet of vehicles scenario simulation, comprising:

7. The system of claim 6, wherein the simulation scenario building module comprises:

the driving strategy setting unit is used for setting a driving strategy, an acceleration and deceleration strategy and an emergency vehicle driving strategy of the vehicle on an application layer of the network communication software Omnet;

8. The system of claim 6, wherein the VTD plug-in module is used for calling a scene library owned by VTD traffic simulation software after matching and classifying the traffic information data, performing 3D rendering on vehicles, buildings, roads and traffic signs, generating 3D visual traffic simulation scene real-time animation, and simulating the first view angle animation of the driver, and comprises:

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of a car networking scenario simulation method according to any of claims 1 to 5 when executing the computer program.

10. A computer-readable storage medium storing a computer program, wherein the computer program when executed implements the steps of a car networking scenario simulation method according to any of claims 1 to 5.