CN115701609A

CN115701609A - Road condition simulation equipment and method

Info

Publication number: CN115701609A
Application number: CN202110880708.0A
Authority: CN
Inventors: 刘备; 吴风炎; 郑民; 刘乙君; 张玉洁
Original assignee: Hisense Group Holding Co Ltd
Current assignee: Hisense Group Holding Co Ltd
Priority date: 2021-08-02
Filing date: 2021-08-02
Publication date: 2023-02-10

Abstract

The application discloses road condition simulation equipment and a road condition simulation method, and belongs to the technical field of electronics. The road condition simulation equipment is used for: acquiring a simulation road section carrying a plurality of simulation vehicles, wherein the simulation vehicles have at least two driving characteristics; controlling each of the plurality of simulated vehicles to travel from a start area of the simulated road segment to an end area of the simulated road segment based on the travel characteristics of the each of the plurality of simulated vehicles; and acquiring the driving information of each simulated vehicle in the simulated road section in the driving process, wherein the driving information is used as training data of a traffic event analysis algorithm. The method and the device solve the problem that the accuracy of analyzing the traffic incident is low due to the fact that the traffic incident analyzing equipment adopts a traffic incident analyzing algorithm. The method and the device are used for simulating the road conditions.

Description

Road condition simulation equipment and method

Technical Field

The present application relates to the field of electronic technologies, and in particular, to a road condition simulation device and method.

Background

At present, the requirement on the detection accuracy of traffic events occurring in a traffic environment is high, so that traffic monitoring departments can timely and effectively process the traffic events. The traffic environment includes at least roads where vehicles pass, and the traffic events may include congestion events, accident events, and the like.

In the related art, a traffic environment is provided with a traffic information detecting apparatus and a traffic event analyzing apparatus. The traffic information detection device may detect traffic information such as a vehicle position, a vehicle speed, and a vehicle type in a traffic environment. The traffic event analysis device may analyze the traffic information using a traffic event analysis algorithm to determine traffic events occurring in the traffic environment.

However, in the related art, the traffic event analysis device adopts a traffic event analysis algorithm, and the accuracy of analyzing the traffic event is low.

Disclosure of Invention

The application provides road condition simulation equipment and a road condition simulation method, which can solve the problem that traffic incident analysis equipment adopts a traffic incident analysis algorithm and the accuracy of analyzing traffic incidents is low. The technical scheme is as follows:

in one aspect, a traffic simulation device is provided, where the traffic simulation device is configured to:

acquiring a simulation road section carrying a plurality of simulation vehicles, wherein the simulation vehicles have at least two driving characteristics;

controlling each of the plurality of simulated vehicles to travel from a start area of the simulated road segment to an end area of the simulated road segment based on the travel characteristics of the each of the plurality of simulated vehicles;

and acquiring the driving information of each simulated vehicle in the simulated road section in the driving process, wherein the driving information is used as training data of a traffic event analysis algorithm.

On the other hand, a road condition simulation method is provided, which is used for road condition simulation equipment; the method comprises the following steps:

The beneficial effect that technical scheme that this application provided brought includes at least:

in the application, the road condition simulation device can simulate the driving process of the vehicle in the simulation road section aiming at a plurality of simulation vehicles with at least two driving characteristics in the simulation road section. The simulation vehicle has more driving characteristics, the comprehensiveness of the simulation process can be ensured, the fitting degree of the simulation process and a real scene is higher, and the accuracy of the obtained driving information is ensured. Also, a large amount of vehicle travel information may be available for training the traffic event analysis algorithm. Therefore, the acquisition of traffic information corresponding to various traffic events in a real environment can be reduced, the acquisition difficulty of training data of a traffic event analysis algorithm is reduced, a large amount of training data can be easily acquired, the sufficient training of the traffic event analysis algorithm is ensured, the calculation accuracy of the traffic event analysis algorithm can be improved, and the analysis effect of traffic event analysis equipment on the traffic events is improved.

Even aiming at traffic incidents with low occurrence frequency in a real environment, a large amount of driving information can be easily acquired, so that the analysis accuracy of a traffic incident analysis algorithm on rare traffic incidents in the real environment can be improved, and the analysis effect of traffic incident analysis equipment on the traffic incidents is improved.

Drawings

In order to more clearly illustrate the technical solutions in 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 only 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. 1 is a flowchart of a road condition simulation method according to an embodiment of the present application;

fig. 2 is a flowchart of another traffic simulation method according to an embodiment of the present application;

FIG. 3 is a schematic view illustrating a driving state of a simulated vehicle according to an embodiment of the present application;

FIG. 4 is a schematic view of a driving state of another simulated vehicle provided by an embodiment of the present application;

FIG. 5 is a schematic view illustrating a driving state of another simulated vehicle according to an embodiment of the present application;

FIG. 6 is a schematic view illustrating a driving state of another simulated vehicle provided in the embodiment of the present application;

FIG. 7 is a schematic view of a driving state of a simulated vehicle according to another embodiment of the present application;

fig. 8 is a schematic view of a display interface of a road condition simulation device according to an embodiment of the present application;

fig. 9 is a schematic diagram of a planar rectangular coordinate system created for a target road segment according to an embodiment of the present application;

fig. 10 is a block diagram of a road condition simulation device according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

At present, the requirement for the traffic supervision effect of the traffic supervision department is higher and higher. A traffic information detection device and a traffic event analysis device may be disposed in the traffic environment. The traffic information detecting apparatus is used to detect traffic information in a traffic environment, such as the type, speed, and location of a vehicle. The traffic information detection device may include a detection device at a gate and a toll station, a millimeter wave radar, a Road Side Unit (RSU), a camera, a traffic flow sensor, and the like. The traffic event analysis device may analyze traffic events in the traffic environment, such as congestion events, violation events, collision events, accident events, and the like, using a traffic event analysis algorithm based on the traffic information detected by the traffic information detection device. The traffic supervision department may obtain information of traffic events occurring in the traffic environment from the traffic event analysis device. The supervisor intervenes the traffic condition of the vehicles in the traffic environment based on the information of the traffic event, so as to ensure the smooth operation of the traffic environment, namely the smooth traffic of the vehicles in the traffic environment. The traffic event analyzing device may be a multi-access Edge Computing (MEC) device, and an algorithm used by the MEC device to analyze the traffic event may be an MEC algorithm.

The MEC algorithm needs to be trained and adjusted based on training data, the more the training data is, the more comprehensive the training data is, the higher the calculation accuracy of the traffic event analysis algorithm is, the higher the accuracy of the traffic event analysis equipment for analyzing the traffic event is, and the better the traffic supervision effect of a traffic supervision department on the traffic environment can be. In the related art, traffic information actually detected by a traffic information detecting device in a traffic environment is mainly used as training data. If the traffic information is the position data of vehicle driving captured by a radar or a camera, the data is analyzed to obtain the actual driving track of the vehicle, so as to train the MEC algorithm. However, data actually acquired by the traffic information detection device are mostly regular driving data, such as driving information in the process of normal driving or lane changing of the vehicle. The algorithm is also required to be able to analyze various abnormal driving scenes, so a large amount of data in the abnormal driving scenes is also required to train the algorithm. Such as a collision accident scene caused by overspeed of the vehicle, a scene of avoiding emergency steering and braking caused by the front vehicle, occupying an emergency lane and the like. And the traffic information detection device actually acquires less data in the abnormal driving scene in the traffic information, which results in insufficient training degree of the algorithm, and the traffic event analysis device adopts the algorithm to have poor analysis effect on the abnormal driving scene.

The embodiment of the application provides road condition simulation equipment and method, which can perform simulation on the driving track of a vehicle in a road section to obtain the driving data of the vehicle in various scenes, and can train or test a traffic event analysis algorithm by using the data to improve the event analysis effect of traffic event analysis equipment.

The road condition simulation device of the embodiment of the application can be a device with strong computing power, such as a server or a computer. Optionally, the traffic simulation device may further be in communication connection with the traffic event analysis device, so as to send the obtained simulated driving information of the vehicle to the traffic event analysis device, so that the traffic event analysis device trains and optimizes a traffic event analysis algorithm. Optionally, the device for training and tuning the algorithm may be independent of the traffic event analysis device, and the road condition simulation device may further send the obtained simulated driving information to the device for training and tuning the algorithm, and then the device sends the obtained algorithm to the traffic event analysis device after the training and tuning of the algorithm is completed. Alternatively, the road condition simulation device can also be directly used as a device for training and tuning the algorithm. Optionally, the trained and tuned algorithm may also be manually input into the traffic event analysis device by a worker, which is not limited in the embodiment of the present application. Optionally, the road condition simulation device may further include a display screen for displaying the simulation process or the obtained simulation information, or receiving configuration parameters and the like adopted in the simulation process and input by the staff.

Fig. 1 is a flowchart of a traffic simulation method according to an embodiment of the present application, where the method can be used in the traffic simulation device. As shown in fig. 1, the method may include:

step 101, obtaining a simulation road section carrying a plurality of simulation vehicles, wherein the simulation vehicles have at least two driving characteristics.

For example, the driving characteristics are driving tendencies of the simulated vehicle, and the driving characteristics may reflect the corresponding intentions of the simulated vehicle to various scenes in the driving process. The driving characteristics may correspond to driver types, such as a driver with a fright spleen qi, a calm driver, a small-bodied driver, and the like. If the current lane is congested, drivers with impatient spleen qi may immediately control the vehicles to change lanes, turn around to drive or occupy emergency lanes and the like; a cold driver may wait for a certain period of time and then control the vehicle to change lanes or turn around; a small driver may stay in the original lane. Optionally, the simulated road segment in the embodiment of the present application may be a simulation for an expressway.

And 102, controlling each simulation vehicle to run from the starting area of the simulation road section to the ending area of the simulation road section based on the running characteristics of each simulation vehicle in the plurality of simulation vehicles.

The simulated road segment may have a start area and an end area, which are determined according to a vehicle travel direction set for the simulated road segment. The starting area is an area where vehicles enter the road section, and the ending area is an area where vehicles leave the road section. Both ends of each lane in the simulated road section may include a start area and a stop area, respectively. The situation simulation apparatus may control each of the simulated vehicles to travel from the start area to the end area of the simulated road segment. Controlling each simulated vehicle in the simulated road section to execute corresponding counter measures aiming at the encountered scenes on the basis of the running characteristics of the vehicle,

and 103, acquiring the driving information of each simulated vehicle in the simulated road section in the driving process, wherein the driving information is used as training data of a traffic event analysis algorithm.

In the embodiment of the application, the running information of the simulated vehicle may include information such as the position, the speed, the acceleration, the lane where the simulated vehicle is located, and the like of the simulated vehicle during running. The road condition simulation device may determine, for each simulated vehicle, a travel track of the simulated vehicle in the whole travel process of the simulated road segment, and use the travel track as training data of the traffic event analysis algorithm. The road condition simulation equipment can also determine the current driving information of all the simulated vehicles in the simulated road section at each moment in the simulation process, and the information is used as the training data of the traffic event analysis algorithm.

To sum up, the road condition simulation device in the embodiment of the present application may perform simulation of a driving process of a vehicle in the simulation road section for a plurality of simulation vehicles having at least two driving characteristics in the simulation road section. The simulation vehicle has more driving characteristics, the comprehensiveness of the simulation process can be ensured, the fitting degree of the simulation process and a real scene is higher, and the accuracy of the obtained driving information is ensured. Also, a large amount of vehicle travel information may be available for training the traffic event analysis algorithm. Therefore, the acquisition of traffic information corresponding to various traffic events in a real environment can be reduced, the acquisition difficulty of training data of a traffic event analysis algorithm is reduced, a large amount of training data can be easily acquired, the sufficient training of the traffic event analysis algorithm is ensured, the calculation accuracy of the traffic event analysis algorithm can be improved, and the analysis effect of traffic event analysis equipment on the traffic events is improved.

Even aiming at traffic events with low occurrence frequency in a real environment, a large amount of driving information can be easily acquired, so that the analysis accuracy of a traffic event analysis algorithm on rare traffic events in the real environment can be improved, and the analysis effect of traffic event analysis equipment on the traffic events is improved.

Fig. 2 is a flowchart of another traffic simulation method according to an embodiment of the present application, where the method can be used in the traffic simulation device. As shown in fig. 2, the method may include:

step 201, creating a simulation road section.

Alternatively, the road condition simulation device may create a simulation road segment for a certain road segment (e.g., a target road segment) in the actual traffic environment. For example, the road condition simulation device may obtain information of a target road segment, such as road segment position, road segment shape, road segment length, number of lanes in the road segment, and speed limit of each lane; and then creates a simulated road segment based on the information of the target road segment.

A road in a traffic environment may be divided into a plurality of road segments, and one traffic event analysis device (e.g., MEC device) and a plurality of traffic information detection devices (e.g., millimeter wave radar) may be disposed in each road segment. The MEC equipment can acquire traffic information detected by the millimeter wave radars, and then analyze traffic events in the road section based on the traffic information. Because the information of different road sections is different, the accuracy of the algorithm used for analyzing the traffic incident in a certain road section is higher if the algorithm is trained on the traffic information in the road section. In the embodiment of the application, corresponding simulation road sections can be respectively constructed for different road sections in a traffic environment, and then an algorithm adopted by MEC equipment corresponding to the road sections is trained based on simulation driving information of vehicles in the simulation road sections, so that traffic events in all the road sections can be accurately analyzed in a targeted manner.

Optionally, the road condition simulation device may also create a general simulation road segment according to information set by the staff, instead of creating a corresponding simulation road segment for each road segment in the actual traffic environment. And the information obtained by simulation in the simulated road section can be used for training and tuning of a traffic event analysis algorithm by traffic event analysis equipment in a plurality of road sections, and the embodiment of the application is not limited.

It should be noted that, in the embodiment of the present application, the simulation road section is created by the road condition simulation device as an example. Optionally, the simulated road segment may also be created by other devices, and the road condition simulation device may obtain information of the simulated road segment from the other devices, and then display the simulated road segment based on the information of the simulated road segment. The information of the simulated road section comprises the shape, the length, the number of lanes, the speed limit of each lane and other information of the simulated road section.

Step 202, at least two driving type templates are received, wherein the at least two driving type templates are used for describing at least two driving characteristics respectively.

For example, the road condition simulation device may include an input device, such as a touch display screen or a keyboard and a mouse. The operator can input the information of the driving type template into the road condition simulation device through the input device, so that the road condition simulation device receives the driving type template. Optionally, the staff may also store the information of the driving type template in other devices in advance, and the road condition simulation device may obtain the driving type template stored in advance from the other devices. Or, the driving type template may also be stored in the internet, and the road condition simulation device may obtain the driving type template from the internet. Optionally, the number of the driving type templates obtained by the road condition simulation device may be equal to or less than the number of the driving type templates set by the operator. The road condition simulation device may select only a part of the driving type templates among all the driving type templates for road condition simulation.

Each driving type template can be used to describe a driving characteristic, i.e., a driving tendency of the driver to the vehicle. The running characteristic may reflect the intention of the simulated vehicle to respond in each scene, that is, the operation that the simulated vehicle may perform in each scene. Each driving type template can comprise a plurality of driving parameter values, and the driving parameter values in each driving type template jointly represent the corresponding driving characteristics of the driving type template. Alternatively, different driving type templates may also be used to describe the same driving characteristic, and different driving type templates used to describe the same driving characteristic may respectively correspond to different vehicle types, such as types of a truck, a bus, and a truck. Such as different vehicle sizes, maximum speeds, accelerations, etc. in the driving type templates corresponding to different vehicle types.

The plurality of driving parameters in the driving type template may include a plurality of the following driving parameters: the method comprises the following steps of vehicle size, expected vehicle speed, judgment conditions of a dangerous scene, judgment period of the dangerous scene, probability of vehicle lane change in a safety scene, probability of vehicle speed increase when the vehicle speed in the safety scene is lower than the expected vehicle speed, probability of vehicle driving route adjustment in a lane when the vehicle deviates from the lane in the safety scene, and probability of the vehicle leaving the emergency lane when the emergency lane is occupied. The driving type template may also include other driving parameters besides the above-mentioned driving parameters, and the embodiment of the present application is not limited.

For example, the vehicle dimensions may include a vehicle length and a vehicle width. The desired vehicle speed may be a vehicle speed at which the vehicle is traveling faster and which ensures that the driver has sufficient reaction time when an emergency occurs. The dangerous scene can be a scene in which the probability of a traffic accident such as a vehicle collision is greater than a first probability threshold. In a dangerous scene, the vehicle can avoid danger by changing lanes. The safety scene may be a scene in which the probability of a traffic accident such as a vehicle collision is smaller than a second probability threshold, and the first probability threshold is greater than or equal to the second probability threshold. In a safety scene, the vehicle can run at a speed as close to the expected speed as possible so as to ensure the running efficiency of the vehicle. In a safety scene, the vehicle can also run in the current lane as far as possible and run in the middle area of the current lane so as to ensure the driving standard and avoid the influence on other vehicles. If the vehicle is not in the middle area of the current lane, the vehicle deviates from the lane.

Alternatively, the worker may also acquire a limiting parameter to set the value of each driving parameter in the driving type template based on the limiting parameter. Or the road condition simulation equipment can acquire the limiting parameters so as to acquire the driving type template meeting the limiting parameters. For example, the limiting parameters may include a maximum length of the vehicle, a maximum line width, a maximum speed limit, a maximum acceleration during acceleration and deceleration, a maximum lateral moving speed, and the like. The lateral direction is also the direction perpendicular to the extending direction of the lane. The value of the limiting parameter may be determined based on empirical values in the actual traffic environment. The values of the travel parameters in the travel type template may be set based on the limiting parameters. If the expected vehicle speed is less than or equal to the maximum speed limit, the vehicle length is less than or equal to the maximum length, and the vehicle width is less than or equal to the maximum width. The speed, acceleration, and the like of the simulated vehicle when traveling through the simulated link are also determined based on the limiting parameters. Therefore, the motion trail of the simulated vehicle violating the physical law in the road condition process can be avoided, and the driving of the vehicle in the simulation process is more accordant with the actual driving scene.

For example, the following table 1 is a driving parameter table included in a driving type template provided in an embodiment of the present application. The "attribute" column in table 1 below indicates the identification of the running parameter, the "description" column indicates the specific meaning of the running parameter, and the "unit" column indicates the value of the running parameter or the unit of the value of the running parameter. Table 1 below shows only the values of the driving parameter, i.e., the determination period of the dangerous scene, and does not show the values of the other driving parameters. The values of the individual driving parameters in table 1 can be different for different driving style templates.

TABLE 1

Optionally, the at least two driving characteristics described by the at least two driving type templates obtained by the road condition simulation device may include a violent driving characteristic. In the driving parameters used to characterize aggressive driving characteristics, the desired vehicle speed may be above a speed threshold and the probability of the vehicle changing lane may be above a probability threshold. The violent driving characteristics may be driving characteristics of the vehicle by a driver with a fright spleen qi. The driving type template obtained by the road condition simulation equipment can also correspond to a plurality of vehicle types.

It should be noted that, in the embodiment of the present application, an example is taken to create a simulation road segment first, and then receive a driving type template. The road condition simulation device may also receive the driving type template and then create the simulated road segment, or may also create the simulated road segment and receive the driving type template synchronously, which is not limited in the embodiment of the present application.

And step 203, adding a plurality of simulated vehicles to the initial area of the simulated road section based on the at least two driving type templates.

Each simulated vehicle may correspond to a driving type template, the plurality of simulated vehicles having at least two driving characteristics, each simulated vehicle having one driving characteristic. Different ones of the plurality of simulated vehicles may have the same driving characteristics or the same driving type templates.

Optionally, the traffic simulation device may obtain a ratio of the number of vehicles corresponding to the at least two driving type templates. When each driving characteristic is described by only one driving type template, the vehicle number proportion corresponding to the at least two driving type templates is also the vehicle number proportion corresponding to the at least two driving characteristics. The road condition simulation equipment can determine the number of the simulation vehicles which adopt the driving type templates and are added into the simulation road section according to the vehicle number proportion, and determine the driving type templates adopted by the simulation vehicles. For example, the road condition simulation device obtains the driving type templates a, B, and C in step 202, and determines that the ratio of the number of vehicles corresponding to the three templates is 1.

Optionally, the road condition simulation device may further set the size and the initial speed of the simulated vehicle using the driving type template based on the size of the vehicle in the driving type template and the expected vehicle speed. If the size of the simulated vehicle can be set as the vehicle size in the driving type template; the initial speed of the simulated vehicle may be set to the desired vehicle speed or the initial speed may be made less than the desired vehicle speed. The road condition simulation equipment can also set the simulated vehicle based on other driving parameters in the driving type template. Then, the road condition simulation equipment randomly adds the set simulated vehicles to the initial area of one lane of the simulated road section. Alternatively, the road condition simulation device may add the simulated vehicle to the simulated road section after setting of the simulated vehicle is completed each time. Or, the road condition simulation device may also set a plurality of simulated vehicles first, and determine the lane corresponding to each simulated vehicle. And then, the simulated vehicles are sorted in groups according to the corresponding lanes, and the simulated vehicles are sequentially added to the lanes according to the sorting interval at a certain time. The adding interval time of any two adjacent simulated vehicles can be the same, or the adding interval time of each two adjacent simulated vehicles can also be randomly determined, and the embodiment of the application is not limited.

Steps 201 to 203 are procedures for establishing a simulation road segment carrying a plurality of simulation vehicles. The road condition simulation device may display a simulation road section not carrying the simulation vehicles in the display screen, and then display the simulation vehicles in the initial area of the simulation road section. Or, the simulated road sections of a plurality of simulated vehicles in the starting area may be directly displayed on the display screen, which is not limited in the embodiment of the present application.

And step 204, controlling the simulation vehicle to drive to the termination area of the simulation road section based on the driving type template of each simulation vehicle in the simulation road section.

In the road condition simulation process, each simulation vehicle drives from the starting area to the ending area of the simulation road section based on the corresponding driving characteristics. Because the driving characteristics of the simulated vehicles are different, the simulated vehicles may perform different operations such as lane changing, braking, acceleration, head dropping and the like based on the scenes where the simulated vehicles are located in the driving process; traffic events may also occur, such as collision events, congestion events, and the like. The road condition simulation equipment can determine whether the simulation vehicle executes the driving action corresponding to the driving parameter according to a random hit rule based on the driving parameter which represents the probability in the driving type template adopted by the simulation vehicle. If a certain driving parameter in the driving type model is the probability of a certain driving action of the vehicle under a certain specific scene; when the simulated vehicle is in the specific scene, the road condition simulation equipment directly determines whether the simulated vehicle executes the driving action or not by adopting a random hit rule based on the probability of performing a certain driving action in the specific scene in the driving type template.

For example, the driving parameters representing the probability in the driving type template may include: the method comprises the following steps of obtaining the lane change probability of a vehicle in a dangerous scene, obtaining the lane change probability of the vehicle in a safe scene, obtaining the speed increase probability of the vehicle when the speed of the vehicle in the safe scene is lower than the expected speed, obtaining the probability of the vehicle adjusting the driving route in a lane when the vehicle deviates from the lane in the safe scene, and obtaining the probability of the vehicle leaving an emergency lane when the vehicle occupies the emergency lane. If in the dangerous scene, whether to change lanes is determined through a random hit rule based on the probability of lane change of the vehicle in the dangerous scene. If the simulated vehicle is in the safety scene and the vehicle speed is lower than the expected vehicle speed, whether the simulated vehicle is controlled to increase the speed is determined based on the probability that the vehicle is increased when the vehicle speed is lower than the expected vehicle speed in the safety scene. For example, the probability is 80%, and the road condition simulation device may generate a random number between 0 and 100 when determining that the simulated vehicle is in a dangerous scene. And if the random number is less than or equal to 80, controlling the simulated vehicle to change the lane, and if the random number is more than 80, not controlling the simulated vehicle to change the lane. When the simulated vehicle is not controlled to change lanes, the simulated vehicle can be controlled to continue running in the original running state, and the simulated vehicle can also be controlled to execute other running actions, such as braking.

Optionally, the road condition simulation device may also directly control the simulated vehicles in the simulated road segment to operate, such as directly controlling a certain simulated vehicle to change lanes or brake, instead of controlling the simulated vehicles to run based on the scene and the running actions specified in the running type template. Alternatively, it is also possible to directly cause a specific traffic event to occur in the simulated road segment in which an obstacle is set to cause the simulated vehicle to operate accordingly. For example, the road condition simulation device may receive a speed adjustment instruction for any simulated vehicle in the simulated road segment during the driving process of the simulated vehicle. The speed adjustment command is used for instructing to adjust at least one of a longitudinal speed and a lateral speed of the simulated vehicle. The longitudinal speed is a speed in an extending direction of the lane, and the lateral speed is a speed in a direction perpendicular to the extending direction of the lane. The speed adjusting instruction can be triggered manually by a worker or automatically by road condition simulation equipment. The road condition simulation device may adjust the speed of the simulated vehicle based on the speed adjustment instruction. Such as controlling the vehicle to accelerate or decelerate based on the longitudinal velocity, and controlling the simulated vehicle to make a lane change to the left or right based on the lateral velocity. Therefore, the simulated vehicle can realize at least one abnormal driving behavior of acceleration, retrograde motion, emergency lane occupation and collision. The road condition simulation equipment controls the simulation vehicle to accelerate, and the simulation vehicle can collide with the simulation vehicle in front of the simulation vehicle; the simulated vehicle is controlled to decelerate, and the simulated vehicle can collide with the simulated vehicle behind the simulated vehicle.

The road condition simulation equipment can simulate the normal driving scene of the vehicle and can also simulate the abnormal driving scene. The normal driving scenario is also the above-mentioned safety scenario, and the abnormal driving scenario is also the above-mentioned dangerous scenario. Therefore, the driving scenes of the vehicles can be enriched, the driving information of the vehicles in various driving scenes can be acquired, and the training data of the traffic incident analysis algorithm is sufficient and comprehensive. For example, for each simulated vehicle, the road condition simulation device may periodically detect the positions and speeds of the vehicles around the simulated vehicle and the obstacles based on the determination period (e.g., 50 milliseconds) of the dangerous scene in the driving type template to determine whether the simulated vehicle is in the dangerous scene. For example, the dangerous scene can be a scene in which the simulated vehicle has a higher probability of colliding with other vehicles. And when the simulated vehicle is determined to be in the dangerous scene, processing the dangerous scene in the period. Upon determining that the simulated vehicle is not in a hazardous scene, it may be determined that the simulated vehicle is in a safe scene. When the simulated vehicle is in a dangerous scene, the running process of the simulated vehicle in the simulated road section is the simulation process in the dangerous scene; when the simulated vehicle is in a safety scene, the driving process of the simulated vehicle in the simulated road section is the simulation process in the safety scene.

The road condition simulation device can judge whether the simulated vehicle is in the dangerous scene or not based on the judgment condition of the dangerous scene in the driving type template. For example, as shown in table 1, the determination condition may be that the time period required for the simulated vehicle to rear-end with the simulated vehicle or the obstacle ahead of the simulated vehicle in the same lane is less than the time period threshold value in accordance with the current speed of the simulated vehicle. For example, the road condition simulation device may determine a speed difference between the simulated vehicle and a simulated vehicle (referred to as a front vehicle) or an obstacle in front of the simulated vehicle, and then determine whether the simulated vehicle may have a rear-end collision event with the front vehicle or the obstacle in front of the simulated vehicle based on the speed difference. When the rear-end collision event occurs, determining the time length from the current moment to the expected rear-end collision event, and determining whether the time length is less than a time length threshold value. And when the duration is less than the duration threshold, determining that the simulated vehicle is currently in a dangerous scene. Optionally, the determining condition may also include: the speed difference is greater than a difference threshold, and a distance between the simulated vehicle and a leading vehicle or an obstacle is less than at least one of a distance threshold.

After the dangerous scene of the simulated vehicle is determined, the road condition simulation equipment can control the simulated vehicle to execute danger avoiding operation. For example, the road condition simulation device can randomly hit and determine the coping intention of the simulated vehicle according to the probability of lane change of the vehicle in the dangerous scene in the driving type template. The response intention comprises lane changing or continuous driving in the current lane, namely judging whether to avoid danger in a lane changing mode. The road condition simulation device may also determine whether a lane adjacent to the lane in which the simulated vehicle is located satisfies a lane change condition. And if the lane change condition is that no vehicle exists in the adjacent lane in the front and rear specified range of the simulated vehicle in the adjacent lane, the simulated vehicle can be driven to change lanes.

And when the response intention is determined to be lane change and the adjacent lane of the lane where the simulated vehicle is located meets the lane change condition, controlling the simulated vehicle to change the lane to the adjacent lane for driving within the first time period. For example, the first time period may be 1 second. Fig. 3 is a schematic view of a running state of a simulated vehicle according to an embodiment of the present application. Four states of the simulated vehicle in the lane changing process are respectively shown. And when the response intention is to continue driving on the current lane or the response intention is to change the lane and the adjacent lane does not meet the lane change condition, controlling the simulated vehicle to adopt a target acceleration for braking, wherein the target acceleration is greater than an acceleration threshold value. Optionally, the target acceleration is a maximum acceleration that can be achieved when the simulated vehicle is braked, so as to ensure that the simulated vehicle stops as soon as possible and avoid colliding with a front vehicle or a front obstacle. For example, fig. 4 is a schematic view of a running state of another simulated vehicle provided in an embodiment of the present application. Four states of the simulated vehicle in the braking process are respectively shown. If the simulated vehicle collides with a front vehicle or a front obstacle in the braking process, the road condition simulation equipment can simulate the displacement change of the simulated vehicle after collision according to the actual collision scene. Illustratively, fig. 5 is a schematic view of a running state of another simulated vehicle provided in an embodiment of the present application. Four states in a scene of collision of the simulated vehicle with the front vehicle are respectively shown.

After determining that the simulated vehicle is in a safe scene, the road condition simulation device may compare the current speed of the simulated vehicle with the expected speed of the simulated vehicle. When the current speed of the simulated vehicle is determined to be different from the expected speed, the speed of the simulated vehicle can be adjusted to enable the simulated vehicle to run according to the expected speed, and the running speed of the simulated vehicle in a safe scene is guaranteed to be high. After the simulated vehicle is determined to be in the safe scene, the road condition simulation device can also determine whether the simulated vehicle is in the center of the lane. When the simulated vehicle is not located in the center of the lane, whether the driving route of the simulated vehicle is adjusted or not can be determined by random hit on the basis of the probability of the corresponding adjusted driving route of the simulated vehicle. The driving route is adjusted, namely the position of the simulated vehicle is corrected, and the simulated vehicle is adjusted to run at the central position of the lane. And when the driving route is determined not to be adjusted, the simulation vehicle continues to drive according to the current driving track. For example, fig. 6 is a schematic view of a driving state of another simulated vehicle provided in the embodiment of the present application. Wherein, four cars from left to right represent four states of the simulated vehicle respectively.

After the simulated vehicle is determined to be in the safe scene, the road condition simulation device can also compare the speed of the simulation device with the speed of the front vehicle in the same lane. When the speed of the simulated vehicle is higher than that of the preceding vehicle, the road condition simulation equipment can randomly hit the response intention of the simulated vehicle based on the vehicle lane change probability in the safety scene in the driving type template. The coping intention includes changing lanes or continuing to travel in the current lane. The road condition simulation device may also determine whether a lane adjacent to the lane in which the simulated vehicle is located satisfies a lane change condition. When it is determined that the response intention is lane change and the adjacent lane meets the lane change condition, the road condition simulation device may control the simulated vehicle to change the lane to the adjacent lane within the second time period. The second time period may be greater than the first time period, for example, the second time period may range from 3 seconds to 5 seconds. When the response intention is to continue driving on the current lane or the response intention is to change lanes and the adjacent lane does not meet the lane change condition, the road condition simulation device can control the simulated vehicle to decelerate until the speed of the simulated vehicle is the same as that of the front vehicle. For the description about the lane change condition, reference may be made to the description about the lane change condition in the above description about the dangerous scene, and details are not repeated in the embodiments of the present application. For example, fig. 7 is a schematic view of a running state of a simulated vehicle according to another embodiment of the present application. Wherein three cars shown from left to right represent three states in the course of the simulated vehicle making a lane change, respectively.

In the road condition simulation process, the road condition simulation equipment can process and adjust the driving state according to dangerous scenes according to the states of vehicles around the simulated vehicle, and keep the priority sequence of the driving state to control the running action of the simulated vehicle so as to realize the simulation of the running track of the simulated vehicle. For example, the road condition simulation device may periodically update information of the simulated vehicle after adding the simulated vehicle to the simulated road segment. The road condition simulation device may determine, for each simulated vehicle in each update cycle, whether the simulated vehicle is still located in the simulated road segment based on the position of the simulated vehicle. And if the simulation vehicle is determined to be no longer located in the simulation road section, removing the simulation vehicle from the simulation road section, and stopping updating the information of the simulation vehicle. And if the simulated vehicle is determined to be still positioned in the simulated road section, updating the current information of the simulated vehicle. The current information may include the current position, velocity, and acceleration of the simulated vehicle. This updating of the information of the simulated vehicle may also be referred to as updating the motion properties of the simulated vehicle. The information in this update period may be determined, for example, based on information in a previous update period for the simulated vehicle. Alternatively, the update period may be the same as the judgment period of the dangerous scene.

Alternatively, the traffic condition simulation device may detect whether a traffic event (e.g., a collision event) occurs in the simulated road segment in each update period, and process the collision event after the collision event occurs. And when no collision event occurs, the information of the simulated vehicle is updated normally. Since the traffic simulation device updates the information of the simulated vehicles at regular intervals, collision events may occur in the interval, and the information in the update cycle cannot be updated based on the information of the simulated vehicles in the previous update cycle, the collision events can be detected in the update cycle first, and then the information is updated. After any two simulated vehicles in the simulated road segment collide, the information of the two simulated vehicles can be updated based on the collision results of the two simulated vehicles. Alternatively, after the collision accident occurs in the simulation road segment, the plurality of simulated vehicles that collided may stay at the home positions for the third duration. After the third period of time, the simulated vehicle that has collided may be deleted from the simulated road segment or the simulated vehicle that has suffered the accident may be caused to resume driving to simulate the situation where the traffic accident is resolved.

In the update period, the road condition simulation device may send a corresponding command to the simulated vehicle based on the driving intention of the simulated vehicle, such as the intention of the lane-changing brake light, to control the simulated vehicle to perform a corresponding operation. For example, the longitudinal speed and/or the lateral speed of the vehicle may be adjusted according to the travel intention. The road condition simulation device can also continuously and periodically judge whether the simulated vehicle is in a dangerous scene or not aiming at each simulated vehicle, such as detecting whether the simulated vehicle has a collision event or not. And if the simulated vehicle is determined to be in the dangerous scene in the judgment period, controlling the simulated vehicle based on the control mode in the dangerous scene, and stopping updating the information of the simulated vehicle based on the original speed. When a congestion event or an accident event occurs in the simulated road section, the road condition simulation equipment can control all simulated vehicles in the simulated road section to decelerate. When the simulated vehicle is determined to be in the safe scene, a comfort intention may be randomly simulated for the simulated vehicle, for example, the comfort intention of the simulated vehicle may be to travel according to an optimal travel mode, and the vehicle speed of the simulated vehicle in the optimal travel mode may be the expected vehicle speed. The road condition simulation equipment can randomly hit whether the vehicle runs according to the optimal running mode or not so as to randomly simulate the comfort intention. Alternatively, the road condition simulation device may randomly simulate the correction intention for the simulated vehicle when the comfort intention is not hit. The correction intention may be an intention to correct the running route of the simulated vehicle so that the simulated vehicle runs in the middle area of the lane. The road condition simulation equipment can randomly hit whether to correct the driving route of the vehicle.

Optionally, a simulation duration may be set for the simulation road segment, so that the road condition simulation device performs the road condition simulation based on the simulation duration, and the duration of each simulation performed by the road condition simulation device for the simulation road segment may be the simulation duration. If the time is started from the moment of adding the first simulated vehicle in the simulated road section, the simulated vehicle is stopped being added into the simulated road section after the time reaches the simulation duration, and the continuous running of the simulated vehicle in the simulated road section is stopped, so that the simulation is finished. When the simulation is performed next time, the parameters based on which the simulation process is based can be reset, for example, the proportion of the number of vehicles corresponding to each driving type template is reset, and then the road condition simulation is performed again.

And step 205, acquiring the driving information of each simulated vehicle in the simulation road section in the driving process.

For example, the road condition simulation device may obtain information of each simulated vehicle in real time during the driving process of each simulated vehicle in the simulated road segment, so as to obtain all information of the current time in the simulated road segment. And the driving information of all simulated vehicles in the simulated road section can be summarized within a period of time. When a traffic event occurs in the simulated road segment, information of the traffic event can also be acquired. If the traffic event is a congestion event, the information of the traffic event may include the length of the congestion area, the number of congested vehicles, the density of vehicles in the congestion area, the congestion duration, and the like.

Optionally, the road condition simulation device may further display the simulation process in the simulated road segment. Fig. 8 is a schematic view of a display interface of a road condition simulation device according to an embodiment of the present application. As shown in fig. 8, the road condition simulation apparatus may display a dynamic map of the driving state of each simulated vehicle in the simulated road section in real time. The display interface may further include a functional area through which human intervention to the simulation process may be performed. Certain parameter setting can be carried out in the functional area, for example, the proportion of various simulated vehicles can be set, for example, the proportion of the networked vehicles in all the simulated vehicles can be set. It is also possible to perform specific operations on the simulation process, such as pausing the simulation process, restarting the simulation process, etc. The operation can also be carried out aiming at a specific simulated vehicle in the simulated road section, such as setting a certain vehicle to run backwards, overspeed, break down or brake, and the like, and the condition that a certain two vehicles collide can also be set. The display interface may also include a display area for travel information, such as the "simulation program message" area in FIG. 8. The area can display the running action executed by the simulation vehicle at each moment in the simulation process and other related information. Optionally, the road condition simulation device may further analyze information of the simulated vehicles in the simulated road segment by using the MEC algorithm to prompt accordingly. For example, the display interface of the traffic simulation apparatus may further include an area for displaying the prompt message, such as the "MEC calculation message" area in fig. 8. The region can display prompt information obtained by analyzing the information of the simulated vehicles in the simulated road section by the road condition simulation equipment by adopting an MEC algorithm. The prompt information comprises early warning information of vehicle collision, early warning information of blind areas between front and rear vehicles, prompt information of emergency lane occupation and early warning information of emergency lane occupation elimination. There may be other prompt information, and the embodiment of the present application is not limited.

And step 206, sending the acquired driving information to the traffic event analysis equipment.

Optionally, since the traffic event analysis device needs to perform data transmission with the traffic information detection device, the traffic condition simulation device may send the driving information obtained through simulation to the traffic event analysis device according to a data transmission protocol of the traffic information detection device (such as a millimeter wave radar). Therefore, more protocols do not need to be configured for the traffic event analysis equipment, and the convenience of data transmission is improved. The traffic incident analysis device can train and tune the traffic incident analysis algorithm based on the acquired driving information.

Optionally, the driving information obtained by the road condition simulation device may be: information determined based on a latitude and longitude coordinate system. The road condition simulation device may directly calculate information of vehicles in the simulation road section based on the longitude and latitude coordinates, and the driving information sent to the traffic event analysis device may also be information determined based on a longitude and latitude coordinate system. Optionally, in this embodiment of the application, a coordinate system may also be reconstructed for the simulated road segment, for example, a planar rectangular coordinate system is constructed, and then the driving information of the simulated vehicle in the simulated road segment is determined based on the reconstructed coordinate system, where the information of the simulated vehicle may include two-dimensional coordinates of the simulated vehicle in the planar rectangular coordinate system. Building a coordinate system for a segment may also be referred to as generating a two-dimensional canvas for the segment. Because the number of digits of the longitude and latitude values is more, if the longitude and latitude data usually has more digits after decimal points, the data volume of the longitude and latitude data is larger; and the longitude and latitude data also need to distinguish east-west longitude, south-north latitude; therefore, the calculation based on the longitude and latitude data is complex and the calculation amount is large. In the embodiment of the application, the longitude and latitude coordinates are converted into the two-dimensional coordinates in the rectangular plane coordinate system, so that the data for calculation is closer to integer, the calculation amount can be greatly reduced to improve the calculation efficiency, and the output frequency of traffic information required in a traffic environment can be met, such as the frequency of sending the traffic information to traffic incident analysis equipment by traffic information detection equipment. If the frequency of the driving information output by the road condition simulation equipment in the simulation road section can reach 50 Hertz (HZ).

Optionally, since the traffic event analyzing device usually uses longitude and latitude coordinates for calculation, the road condition simulating device converts coordinates of the simulated vehicle in the rectangular plane coordinate system into longitude and latitude coordinates, that is, converts the driving information represented by the two-dimensional coordinates into longitude and latitude coordinates. And then, sending the driving information represented by the longitude and latitude coordinates to traffic event analysis equipment. Optionally, the planar rectangular coordinate system may also be constructed by other devices, and the traffic event analysis device directly obtains the planar rectangular coordinate system, which is not limited in the embodiment of the present application.

Fig. 9 is a schematic diagram of a planar rectangular coordinate system created for a target road segment according to an embodiment of the present application. The target road segment may be any road segment in the traffic environment. As shown in fig. 9, the first axis (e.g., y axis) of the rectangular plane coordinate system may be parallel to a line L1 (i.e., a dashed line in the figure) connecting a start point D1 and an end point D2 of the target road segment, where the start point D1 and the end point D2 of the target road segment are respectively located at two ends of the target road segment, and the start point D1 and the end point D2 are respectively two end points of a central line of the target road segment. The start point D1 and the end point D2 may be a start point and an end point of the target link in the uplink direction, respectively, or may also be a start point and an end point of the target link in the downlink direction, respectively. The second axis (e.g., x axis) of the rectangular plane coordinate system passes through the starting point D1 or the ending point D2, and fig. 9 illustrates the case where the x axis passes through the starting point D1. Optionally, the target road segment may be located in the first quadrant of the plane coordinate system, so that it may be ensured that each data in the target road segment is a positive value, and the computation complexity is reduced. Alternatively, the second axis may pass through a point in the target road segment where the coordinate values on the first axis are smallest.

For example, the traffic event analysis device may acquire high-precision map data of the target road segment, and construct a planar rectangular coordinate system based on the data. The high-precision map data may be high-precision longitude and latitude data, and the high-precision map data may include longitude and latitude of an edge position of a target road section, longitude and latitude of a center line, a lane line and a side line, a total width of the target road section, the number of lanes, a width of a green belt, and the like. The traffic event analysis device may connect a start point D1 and an end point D2 of a center line of the target link to obtain a line segment L1 according to an upward direction of the target link, with a direction pointing from the start point D1 to the end point D2 in the line segment L1 as a y-axis direction. The line segment L1 may be translated until tangent to the most convex position in the edge of the target road segment, resulting in the y-axis. Then, a straight line passing through the starting point D1 and perpendicular to the y axis may be used as the x axis, and a coordinate system formed by the x axis and the y axis is a right-hand coordinate system, so as to create a planar rectangular coordinate system for the target road segment.

Alternatively, the rectangular plane coordinate system may directly adopt 1 meter as a unit length, or may set the unit length to another length. Optionally, the maximum error caused by the calculation performed by the traffic event analysis device by using the algorithm is 0.2 meter, and the maximum error can be 0.2 meter as a unit length, so that the calculation simplicity of the traffic event analysis device is ensured. Optionally, a unit length may also be 0.1 meter or another length, and this is not limited in this embodiment of the present application. The rectangular plane coordinate system in the embodiment of the application is obtained by rotating the longitude and latitude coordinate system by a certain angle. The road condition simulation equipment can calculate the coordinate of a certain point in the plane rectangular coordinate system in the longitude and latitude coordinate system by using a rotating shaft formula.

In the embodiment of the application, through a plurality of preset driving type templates, the simulation vehicle can make diversified driving tracks which accord with road driving logics according to the driving type templates, and the driving track logics can be ensured to be self-consistent. The road condition simulation equipment can continuously add different simulation vehicles in the local road section, simulate the whole process of the vehicles entering the road section, running in the road section and leaving the road section, and can realize uninterrupted simulation of the running state of the vehicles in the local road section. The road condition simulation equipment enables the vehicle to make different driving actions according to the driving parameters in a specific driving scene according to the random hit rule, so that various conventional driving scenes (such as a safe driving scene) and unconventional driving scenes (such as violation, overspeed, congestion and the like) can be simulated, various testing scenes of an algorithm of the MEC equipment can be covered, and the algorithm testing is supported. In addition, the road condition simulation equipment can generate a two-dimensional canvas for a road section, and then determine the information of the simulated vehicle according to the information in the canvas, so that the information of the simulated vehicle can be simplified, the position information of the simulated vehicle can be output at a higher frequency, and the simulation of the data transmission mode of the radar can be realized.

To sum up, the road condition simulation device in the embodiment of the present application may perform simulation of a driving process of a vehicle in the simulation road section for a plurality of simulation vehicles having at least two driving characteristics in the simulation road section. The simulation vehicle has more driving characteristics, the comprehensiveness of the simulation process can be ensured, the fitting degree of the simulation process and a real scene is higher, and the accuracy of the obtained driving information is ensured. Also, a large amount of vehicle travel information may be obtained that is used to train the traffic event analysis algorithm. Therefore, the acquisition of traffic information corresponding to various traffic events in a real environment can be reduced, the acquisition difficulty of training data of a traffic event analysis algorithm is reduced, a large amount of training data can be easily acquired, the traffic event analysis algorithm can be sufficiently trained, the calculation accuracy of the traffic event analysis algorithm can be improved, and the analysis effect of traffic event analysis equipment on the traffic events can be improved.

Fig. 10 is a block diagram of a road condition simulation device according to an embodiment of the present application, where the analysis device may be a device with high computing power, such as a server or a computer. The road condition simulation apparatus 900 includes a Central Processing Unit (CPU) 901, a system memory 904 including a Random Access Memory (RAM) 902 and a Read Only Memory (ROM) 903, and a system bus 905 connecting the system memory 904 and the central processing unit 901. The road condition simulating apparatus 900 further includes a basic input/output system (I/O system) 906 for facilitating information transfer between devices within the computer, and a mass storage device 907 for storing an operating system 913, application programs 914, and other program modules 915.

The basic input/output system 906 includes a display 908 for displaying information and an input device 909 such as a mouse, keyboard, etc. for user input of information. Wherein the display 908 and the input device 909 are connected to the central processing unit 901 through an input-output controller 910 connected to the system bus 905. The basic input/output system 906 may also include an input/output controller 910 for receiving and processing input from a number of other devices, such as a keyboard, mouse, or electronic stylus. Similarly, an input-output controller 910 also provides output to a display screen, a printer, or other type of output device.

The mass storage device 907 is connected to the central processing unit 901 through a mass storage controller (not shown) connected to the system bus 905. The mass storage device 907 and its associated computer-readable media provide non-volatile storage for the traffic simulation device 900. That is, the mass storage device 907 may include a computer-readable medium (not shown) such as a hard disk or CD-ROM drive.

Without loss of generality, the computer readable media may comprise computer storage media and communication media. Computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes RAM, ROM, EPROM, EEPROM, flash memory or other solid state storage technology, CD-ROM, DVD, or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. Of course, those skilled in the art will appreciate that the computer storage media is not limited to the foregoing. The system memory 904 and mass storage device 907 described above may be collectively referred to as memory.

According to various embodiments of the present application, the road condition simulation apparatus 900 may also be operated by a remote computer connected to a network through a network such as the internet. That is, the road condition simulation apparatus 900 may be connected to the network 912 through the network interface unit 911 connected to the system bus 905, or may be connected to other types of networks or remote computer systems (not shown) by using the network interface unit 911.

Embodiments of the present application further provide a computer-readable storage medium, in which instructions are stored, and when the instructions are executed on a computer, the instructions cause the computer to execute the traffic event detection method provided in the foregoing embodiments, for example, the method shown in fig. 2 or fig. 3.

Embodiments of the present application further provide a computer program product containing instructions, which when run on a computer, cause the computer to execute the traffic event detection method provided by the above method embodiments, for example, the method shown in fig. 2 or fig. 3.

It should be noted that, the method embodiments provided in the embodiments of the present application can be mutually referred to with corresponding apparatus embodiments, and the method embodiments are not limited in this application. The sequence of the steps of the method embodiments provided in the embodiments of the present application can be appropriately adjusted, and the steps can be correspondingly increased or decreased according to the situation, and any method that can be easily conceived by those skilled in the art within the technical scope disclosed in the present application shall be covered by the protection scope of the present application, and therefore, the details are not repeated.

The term "and/or" in this application is only one kind of association relationship describing the associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship. Where mathematical formula calculations are involved, the character "/" represents the operator "divide by". The term "at least one of a and B" in the application is only one kind of association relationship describing the associated object, and means that three kinds of relationships may exist, for example, at least one of a and B may mean: a exists alone, A and B exist simultaneously, and B exists alone. Similarly, "at least one of a, B, and C" means that there may be seven relationships, which may mean: there are seven cases of A alone, B alone, C alone, A and B together, A and C together, C and B together, and A, B and C together. "plurality" in this application means "two or more".

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A traffic simulation apparatus, characterized in that the traffic simulation apparatus is configured to:

2. The traffic simulation device according to claim 1, wherein the traffic simulation device is further configured to:

receiving at least two driving type templates, wherein the at least two driving type templates are used for respectively describing the at least two driving characteristics;

and establishing the simulation road section carrying a plurality of simulation vehicles based on the at least two driving type templates.

3. A road condition simulating device according to claim 1 or 2 characterized in that the driving characteristics are characterized by a plurality of the following driving parameters:

the method comprises the following steps of vehicle size, expected vehicle speed, judgment conditions of a dangerous scene, judgment period of the dangerous scene, probability of vehicle lane change in a safety scene, probability of vehicle speed increase when the vehicle speed in the safety scene is lower than the expected vehicle speed, probability of vehicle driving route adjustment in a lane when the vehicle deviates from the lane in the safety scene, and probability of the vehicle leaving an emergency lane when the vehicle occupies the emergency lane.

4. A traffic simulation device as set forth in claim 3, characterized in that it is adapted to:

determining the response intention of any simulated vehicle based on the probability of vehicle lane change in the dangerous scene in the driving type template when the simulated vehicle is determined to be in the dangerous scene based on the judgment condition of the dangerous scene corresponding to any simulated vehicle in the simulated road section; the response intention comprises lane changing or continuous driving in the current lane, and the dangerous scene is a scene in which the probability of the traffic accident of any one simulated vehicle is greater than a probability threshold value;

when the response intention is lane change and the lane adjacent to the lane where the any simulated vehicle is located meets the lane change condition, controlling the any simulated vehicle to change the lane to the adjacent lane for running within a first time period;

and when the response intention is to continue driving on the current lane or the response intention is to change the lane and the adjacent lane does not meet the lane change condition, controlling any one of the simulated vehicles to adopt a target acceleration brake, wherein the target acceleration is greater than an acceleration threshold value.

5. The traffic simulation device according to claim 3, wherein the traffic simulation device is configured to:

when any simulated vehicle in the simulated road section is in a safe scene and the speed of any simulated vehicle is different from the expected speed corresponding to any simulated vehicle, adjusting the speed of any simulated vehicle to enable any simulated vehicle to run according to the expected speed; the safety scene is a scene that the probability of the traffic accident of any one simulated vehicle is smaller than a probability threshold value;

when any one of the simulated vehicles is in the safety scene and is not in the center position of the lane, controlling any one of the simulated vehicles to continue to run according to the current running track or adjusting any one of the simulated vehicles to run in the center position of the lane based on the probability of the adjusted running route corresponding to any one of the simulated vehicles;

when any simulated vehicle is in the safety scene and the speed of any simulated vehicle is greater than that of a preceding vehicle, determining the response intention of any simulated vehicle based on the lane change probability of the vehicle in the safety scene corresponding to any simulated vehicle, wherein the response intention comprises lane change or continuous driving in the current lane;

when the response intention is lane change and the lane adjacent to the lane where the any simulation vehicle is located meets the lane change condition, controlling the any simulation vehicle to change the lane to the adjacent lane within a second time length;

and when the response intention is to continue driving on the current lane or the response intention is to change the lane and the adjacent lane does not meet the lane change condition, controlling any one simulated vehicle to decelerate to be the same as the speed of the front vehicle.

6. A traffic simulation device according to any of claims 3 to 5, characterized in that the traffic simulation device is further configured to:

and determining whether the simulated vehicle executes the running action corresponding to the running parameter or not according to a random hit rule based on the running parameter representing the probability.

7. The traffic simulation apparatus according to any one of claims 1 to 4, wherein the at least two driving characteristics include a violent driving characteristic, and among the driving parameters representing the violent driving characteristic, a desired vehicle speed is higher than a speed threshold value, and a probability of a vehicle lane change is higher than a probability threshold value;

and/or the road condition simulation equipment is further used for:

receiving a speed adjusting instruction aiming at any simulated vehicle in the simulated road section in the driving process of the any simulated vehicle, wherein the speed adjusting instruction is used for indicating that at least one of the longitudinal speed and the transverse speed of the any simulated vehicle is adjusted;

and adjusting the speed of any simulated vehicle based on the speed adjusting instruction so as to enable any simulated vehicle to realize at least one abnormal driving behavior of acceleration, retrograde motion, emergency lane occupation and collision.

8. A traffic simulation device according to claim 1 or 2, characterized in that the traffic simulation device is configured to:

acquiring the vehicle number proportion corresponding to the at least two running characteristics;

determining the running characteristic corresponding to each simulated vehicle in the plurality of simulated vehicles based on the vehicle number proportion;

setting the size and the initial speed of a simulated vehicle corresponding to the running characteristic based on the size of the vehicle in the running parameters representing the running characteristic and the expected vehicle speed;

randomly disposing each simulated vehicle of the plurality of simulated vehicles in a starting area of one lane of the simulated road segment.

9. The traffic simulation apparatus according to any one of claims 1 to 4, wherein the driving information of the simulated vehicle comprises coordinates of the simulated vehicle in a rectangular plane coordinate system; a first axis of the plane rectangular coordinate system is parallel to a connecting line of a starting point and a terminal point of the simulation road section, a second axis of the plane rectangular coordinate system passes through the starting point or the terminal point, and the simulation road section is positioned in a first quadrant of the plane rectangular coordinate system; the road condition simulation equipment is further used for:

converting the coordinates of the simulated vehicle in the plane rectangular coordinate system into longitude and latitude coordinates;

and sending the longitude and latitude coordinates to traffic event analysis equipment so that the traffic event analysis equipment trains a traffic event analysis algorithm based on the longitude and latitude coordinates.

10. A road condition simulation method is characterized in that the method is used for road condition simulation equipment; the method comprises the following steps: