CN116067669A

CN116067669A - Brake simulation system, method, apparatus, and storage medium

Info

Publication number: CN116067669A
Application number: CN202310013762.4A
Authority: CN
Inventors: 郭唤唤; 孙礼; 陈晨
Original assignee: Chery Automobile Co Ltd
Current assignee: Chery Automobile Co Ltd
Priority date: 2023-01-05
Filing date: 2023-01-05
Publication date: 2023-05-05

Abstract

The application discloses a brake simulation system, a brake simulation method, brake simulation equipment and a storage medium, and belongs to the technical field of vehicles. In the system, a first electronic device calls a first simulation program to generate a braking simulation scene, and scene information of the braking simulation scene is sent to a second electronic device; and the second electronic equipment invokes a second simulation program to establish a whole vehicle dynamics model, and inputs the braking input parameters and scene information at the current moment into the whole vehicle dynamics model to obtain the braking output parameters at the current moment. And the third electronic equipment calls a third simulation program, determines a brake input parameter at the next moment based on the brake output parameter at the current moment, repeats the operation, and finally calls the first simulation program to display the brake simulation process of the first vehicle. Therefore, the system jointly simulates the braking performance of the vehicle through a plurality of simulation programs, so that the braking performance of the vehicle can be accurately simulated, the simulation result is more close to the real vehicle state, and the simulation accuracy is improved.

Description

Brake simulation system, method, apparatus, and storage medium

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a brake simulation system, a method, an apparatus, and a storage medium.

Background

The AEB (Autonomous Emergency Braking, automatic emergency braking) system is a system for ensuring the safety of users, and the system detects the distance between the vehicle and the front vehicle or the distance between the vehicle and an obstacle through a sensor such as a camera, a radar and the like, and when the distance is smaller than the safety distance and the user does not get in the way to step on a brake pedal, the AEB system automatically brakes the vehicle, so that the safety of the users is ensured.

At present, the AEB system of the vehicle follows the process from simulation to real vehicle test, wherein how to accurately simulate the braking performance of the vehicle so that the simulation result is closer to the real vehicle state is a problem to be solved in the field.

Disclosure of Invention

The embodiment of the application provides a brake simulation system, a brake simulation method, brake simulation equipment and a storage medium, which can accurately simulate the brake performance of a vehicle and enable a simulation result to be closer to a real vehicle state. The technical scheme is as follows:

in one aspect, a brake simulation system is provided, the system comprising: the first electronic device, the second electronic device and the third electronic device; the first electronic equipment is provided with a first simulation program, the second electronic equipment is provided with a second simulation program, and the third electronic equipment is provided with a third simulation program;

The first electronic device is used for calling the first simulation program to generate a braking simulation scene and sending scene information of the braking simulation scene to the second electronic device;

the second electronic equipment is used for calling the second simulation program to acquire the whole vehicle dynamics parameters of the first vehicle, and establishing a whole vehicle dynamics model based on the whole vehicle dynamics parameters;

the second electronic device is further configured to obtain a brake input parameter at a current moment, and input the brake input parameter at the current moment and the scene information into the whole vehicle dynamics model to obtain a brake output parameter at the current moment output by the whole vehicle dynamics model; transmitting the brake output parameter at the current moment to the third electronic equipment;

the third electronic device is configured to invoke the third simulation program, determine a brake input parameter of the first vehicle at a next moment based on the brake output parameter at the current moment, and send the brake input parameter of the first vehicle at the next moment to the second electronic device;

the second electronic device is further configured to repeatedly perform the step of determining a corresponding brake output parameter according to the acquired brake input parameter until the first vehicle stops traveling; transmitting a brake input parameter at each moment to the first electronic device;

The first electronic device is further configured to invoke the first simulation program, and display a braking simulation process of the first vehicle based on the scene information and the braking input parameters at each moment.

In one possible implementation, the scene information includes a road friction coefficient;

the third electronic device is used for calling the third simulation program and determining a braking distance based on the road friction coefficient; and determining a brake input parameter of the first vehicle at the next moment based on the brake distance and the brake output parameter at the current moment.

In another possible implementation manner, the third electronic device is configured to obtain a brake control model; and inputting the braking distance and the braking output parameter at the current moment into the braking control model to obtain the braking input parameter at the next moment output by the braking control model.

In another possible implementation manner, the first electronic device is configured to call the first simulation program to generate a static scene and a dynamic scene respectively; and adding the static scene into the dynamic scene to obtain the braking simulation scene.

In another possible implementation manner, the first electronic device is configured to call the first simulation program to obtain a road friction coefficient, and generate the static scene based on the road friction coefficient.

In another possible implementation manner, the second electronic device is configured to invoke the second simulation program to display a parameter interface; the parameter interface comprises a parameter export option; deriving a brake output parameter for each moment in time in response to a triggering operation of the parameter derivation option; and determining the speed change condition of the first vehicle in the braking process based on the braking output parameters at each moment.

In another aspect, a brake simulation method is provided, the method comprising:

the method comprises the steps that a first electronic device calls a first simulation program to generate a braking simulation scene, and scene information of the braking simulation scene is sent to a second electronic device;

the second electronic equipment invokes a second simulation program to acquire the whole vehicle dynamics parameters of the first vehicle, and establishes a whole vehicle dynamics model based on the whole vehicle dynamics parameters;

the second electronic equipment acquires a brake input parameter at the current moment, and inputs the brake input parameter at the current moment and the scene information into the whole vehicle dynamics model to obtain a brake output parameter at the current moment output by the whole vehicle dynamics model; transmitting the brake output parameter at the current moment to the third electronic equipment;

The third electronic equipment invokes a third simulation program, determines a brake input parameter of the first vehicle at the next moment based on the brake output parameter at the current moment, and sends the brake input parameter at the next moment to the second electronic equipment;

the second electronic equipment repeatedly executes the step of determining corresponding brake output parameters according to the acquired brake input parameters until the first vehicle stops running; transmitting a brake input parameter at each moment to the first electronic device;

and the first electronic equipment invokes the first simulation program, and displays a braking simulation process of the first vehicle based on the scene information and the braking input parameters at each moment.

the third electronic device invokes a third simulation program, determines a brake input parameter of the first vehicle at a next moment based on the brake output parameter at the current moment, including:

the third electronic equipment invokes the third simulation program, and determines a braking distance based on the road friction coefficient; and determining a brake input parameter of the first vehicle at the next moment based on the brake distance and the brake output parameter at the current moment.

In another possible implementation manner, the third electronic device determines a brake input parameter of the first vehicle at a next moment based on the brake distance and the brake output parameter at the current moment, including:

the third electronic equipment acquires a brake control model; and inputting the braking distance and the braking output parameter at the current moment into the braking control model to obtain the braking input parameter at the next moment output by the braking control model.

In another possible implementation manner, the first electronic device invokes a first simulation program to generate a braking simulation scene, including:

the first electronic equipment invokes the first simulation program to respectively generate a static scene and a dynamic scene; and adding the static scene into the dynamic scene to obtain the braking simulation scene.

In another possible implementation manner, the first electronic device calls the first simulation program to generate a static scene, including:

and the first electronic equipment calls the first simulation program to acquire a road friction coefficient, and generates the static scene based on the road friction coefficient.

In another possible implementation, the method further includes:

The second electronic equipment calls the second simulation program to display a parameter interface; the parameter interface comprises a parameter export option; deriving a brake output parameter for each moment in time in response to a triggering operation of the parameter derivation option; and determining the speed change condition of the first vehicle in the braking process based on the braking output parameters at each moment.

In another aspect, an electronic device is provided, where the electronic device includes a processor and a memory, where the memory stores at least one program code, and the at least one program code is loaded and executed by the processor to implement a brake simulation method described in any one of the electronic devices.

In another aspect, a computer readable storage medium having at least one program code stored therein, the at least one program code loaded and executed by a processor to implement the brake simulation method of any of the above.

In another aspect, a computer program product is provided, in which at least one program code is stored, which is loaded and executed by a processor to implement the brake simulation method according to any of the above.

The embodiment of the application provides a braking simulation system, which generates a braking simulation scene through a first simulation program, determines a braking output parameter at each moment through a second simulation program, determines a braking input parameter at each moment through a third simulation program, and finally displays a braking simulation process of a first vehicle through the first simulation program. Therefore, the system jointly simulates the braking performance of the vehicle through a plurality of simulation programs, so that the braking performance of the vehicle can be accurately simulated, the simulation result is more close to the real vehicle state, and the simulation accuracy is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.

Drawings

FIG. 1 is a schematic diagram of a brake simulation system provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of a braking simulation scenario provided by an embodiment of the present application;

fig. 3 is a schematic diagram of establishing a vehicle dynamics model based on vehicle dynamics parameters according to an embodiment of the present application;

fig. 4 is a schematic diagram of inputting a brake input parameter into a whole vehicle dynamics model to obtain a brake output parameter according to an embodiment of the present application;

FIG. 5 is a schematic diagram of a vehicle braking performance simulation through a vehicle dynamics model and a brake control model according to an embodiment of the present application;

FIG. 6 is a schematic illustration of a vehicle braking performance simulation by joint simulation provided in an embodiment of the present application;

FIG. 7 is a schematic diagram of actual speed and simulated speed of a vehicle according to an embodiment of the present application;

FIG. 8 is a flow chart of a brake simulation method provided by an embodiment of the present application;

fig. 9 is a block diagram of a structure of a terminal according to an embodiment of the present application;

fig. 10 is a block diagram of a server according to an embodiment of the present application.

Detailed Description

In order to make the technical solution and advantages of the present application more clear, the following embodiments of the present application are described in further detail.

The terms "first," "second," "third," and "fourth" and the like in the description and in the claims of this application and in the drawings, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprising," "including," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

It should be noted that, information (including but not limited to user equipment information, user personal information, etc.), data (including but not limited to data for analysis, stored data, presented data, etc.), and signals referred to in this application are all authorized by the user or are fully authorized by the parties, and the collection, use, and processing of relevant data is required to comply with relevant laws and regulations and standards of relevant countries and regions. For example, scenario information, brake input parameters, brake output parameters, and the like referred to in this application are all acquired with sufficient authorization.

Fig. 1 is a schematic diagram of a brake simulation system provided in an embodiment of the present application, referring to fig. 1, the system includes: the first electronic device, the second electronic device and the third electronic device; the first simulation program is installed on the first electronic equipment, the second simulation program is installed on the second electronic equipment, and the third simulation program is installed on the third electronic equipment;

the second electronic equipment is used for calling a second simulation program to acquire the whole vehicle dynamics parameters of the first vehicle and establishing a whole vehicle dynamics model based on the whole vehicle dynamics parameters;

The third electronic device is further used for acquiring a brake input parameter at the current moment, inputting the brake input parameter at the current moment and scene information into the whole vehicle dynamics model, and obtaining a brake output parameter at the current moment output by the whole vehicle dynamics model; transmitting a brake output parameter at the current moment to third electronic equipment;

the third electronic device is used for calling a third simulation program, determining a brake input parameter of the first vehicle at the next moment based on the brake output parameter, scene information and the whole vehicle dynamics parameter at the current moment, and sending the brake input parameter of the first vehicle at the next moment to the second electronic device;

the first electronic device is further used for calling a first simulation program and displaying a braking simulation process of the first vehicle based on the scene information and the braking input parameters at each moment.

In the embodiment of the application, the first electronic device may be provided as a first terminal and a first server, the second electronic device may be provided as a second terminal and a second server, and the third electronic device may be provided as a third terminal and a third server. The first server is a server corresponding to the first simulation program, the second server is a server corresponding to the second simulation program, and the third server is a server corresponding to the third simulation program.

The first electronic equipment is provided with a Linux operating system, and the first simulation program runs in the Linux operating system. And installing Windows operating systems on the second electronic device and the third electronic device, and running the second simulation program and the third simulation program in the Windows operating systems. The second simulation program and the third simulation program are both run in the Windows operating system, so that the second simulation program and the third simulation program may run on the same electronic device or may run on different electronic devices, that is, the second electronic device and the third electronic device may be the same device or may be different devices, which is not limited specifically.

In this embodiment of the present application, the first simulation program may be a VTD (Virtual Test Drive, a simulation software), the second simulation program may be a carsim (a simulation software), and the third simulation program may be a simulink (a simulation software).

The first terminal, the second terminal and the third terminal can be at least one of a mobile phone, a tablet computer, PC (Personal Computer ) equipment, intelligent voice interaction equipment, an on-board terminal and the like. The first server, the second server, and the third server may be at least one of a server, a server cluster composed of a plurality of servers, a cloud server, a cloud computing platform, and a virtualization center.

Next, a process of the first electronic device calling the first simulation program to generate a braking simulation scene is described.

The first electronic equipment is used for calling a first simulation program to respectively generate a static scene and a dynamic scene; and adding the static scene into the dynamic scene to obtain a braking simulation scene.

In this implementation manner, the process of generating the static scene by the first electronic device may be: the first electronic equipment calls a first simulation program to obtain a road friction coefficient, and generates a static scene based on the road friction coefficient.

In this implementation manner, the first simulation program includes a ROD design (ROD design) module, and the first electronic device may call the ROD module to create a road, set a road friction coefficient and a lane line, and save and generate a file in a preset format after completion, so as to generate a static scene. Wherein the preset format includes an xodr format and an osgb format.

The first simulation program further includes: a scenarioioditor module, the first electronic device calls the scenarioioditor module to add the file with the preset format into the dynamic scene, the first vehicle and the second vehicle are added again, setting a travel locus of the first vehicle and the second vehicle, a first speed of the first vehicle, a second speed of the second vehicle, and a travel distance between the first vehicle and the second vehicle, a braking simulation scenario is obtained, see fig. 2. Wherein the second vehicle is located in front of the first vehicle.

In the embodiment of the application, different road friction coefficients can be set according to different road conditions, so that the braking performance of the vehicle under different road conditions can be tested. For example, the road friction coefficient on snow is the smallest, and the road friction coefficient on rain is greater than that on snow.

Next, a process of determining the brake output parameter by the second electronic device will be described.

The second electronic equipment firstly calls a second simulation program to acquire the whole vehicle dynamics parameters of the first vehicle, and then establishes a whole vehicle dynamics model based on the whole vehicle dynamics parameters.

Wherein, referring to fig. 3, the whole vehicle dynamics parameters include: the second electronic equipment establishes a whole vehicle dynamics model based on the whole vehicle dynamics parameters.

In the embodiment of the application, different vehicle dynamics parameters can be set for different vehicles, and different vehicle dynamics models are established, so that the braking performance of different vehicles can be simulated, and the development period of the real vehicles is shortened.

In the embodiment of the application, the third electronic device may send the brake input parameter at the current moment to the second electronic device, and the second electronic device inputs the brake input parameter at the current moment and the scene information into the whole vehicle dynamics model to obtain the brake output parameter at the current moment output by the whole vehicle dynamics model. Wherein the brake input parameters include tire height information, accelerator opening, brake master cylinder pressure, etc., and the brake output parameters include speed, acceleration, position and posture of the first vehicle including X, Y and Z coordinate values, roll angle, yaw angle, etc., of the first vehicle, see fig. 4.

In addition, the scene information includes, in addition to the road friction coefficient, a driver parameter model for simulating the manipulation of the power or steering of the vehicle by the driver, sensor information for indicating the height of the road, road height information for indicating information collected by a sensor on the first vehicle, for example, the driving distance between the first vehicle and the second vehicle, and the like.

Since the braking process of the vehicle is a continuous process, in this process, the speed of the first vehicle and the driving distance between the first vehicle and the second vehicle are continuously changed, that is, the scene information is continuously changed, so the first electronic device may send the scene information corresponding to the current moment to the second electronic device, for example, the speed of the first vehicle corresponding to the current moment, the driving distance between the first vehicle and the second vehicle at the current moment, and the second electronic device determines the braking output parameter at the current moment through the whole vehicle dynamics model according to the scene information at the current moment and the braking input parameter at the current moment.

For example, the second electronic device invokes the second simulation program, and determines, through the whole vehicle dynamics model, a speed, an acceleration, a position, an attitude, and the like of the first vehicle when the driver presses the brake pedal according to the brake master cylinder pressure at the current moment, thereby obtaining a brake output parameter at the current moment.

After the second electronic equipment obtains the brake output parameter at the current moment, the second electronic equipment sends the brake output parameter at the current moment to the third electronic equipment, and the brake input parameter at the next moment is determined through the third electronic equipment.

It should be noted that, although the vehicle dynamics model is also built in the VTD, the vehicle parameters are not detailed by carsim, that is, the accuracy of the vehicle dynamics model in the VTD is low. In addition, a real vehicle model can be built in the carsim, but a real vehicle model cannot be built in the VTD, so that the braking performance of the vehicle can be more accurately simulated through building the whole vehicle dynamics model by the carsim, and the real vehicle development period is shortened.

Next, a process of determining the brake input parameter by the third electronic device will be described.

And the third electronic equipment invokes a third simulation program, determines the brake input parameter of the first vehicle at the next moment based on the brake output parameter at the current moment, and sends the brake input parameter at the next moment to the second electronic equipment.

In the implementation mode, the scene information comprises a road friction coefficient, and the third electronic equipment calls a third simulation program to determine a braking distance based on the road friction coefficient; based on the braking distance and the braking output parameter at the current time, a braking input parameter of the first vehicle at a next time is determined.

Different braking distances may be associated with different road friction coefficients. For example, if the road friction coefficient is large, the braking distance is small; the braking distance is larger when the road friction coefficient is smaller.

The third electronic device may store a correspondence between the road friction coefficient and the braking distance, and then determine the braking distance corresponding to the road friction coefficient based on the correspondence and the road friction coefficient in the scene information.

In the embodiment of the application, different road friction coefficients correspond to different braking distances, so that the braking performance of the vehicle under different road conditions can be fully simulated, and the simulation result is more close to a real vehicle state.

In the embodiment of the application, the third electronic device may determine the braking distance based on the first speed of the first vehicle, the second speed of the second vehicle, and the driving distance between the first vehicle and the second vehicle, in addition to the road friction coefficient. For example, when the driving distance is small, the braking distance is small in order to avoid collision of the first vehicle and the second vehicle; when the driving distance is larger, the user experience is reduced to avoid sudden braking, and the braking can be performed slowly, and in this case, the braking distance is larger. For another example, the first speed is greater than the second speed, and the braking distance is smaller to avoid collision between the first vehicle and the second vehicle; the first speed is less than the second speed, and in order to avoid sudden braking and reduce user experience, the braking can be performed slowly, and in this case, the braking distance is larger.

And the third electronic equipment calls a third simulation program to acquire a brake control model, and inputs the brake distance and the brake output parameter at the current moment into the brake control model to acquire the brake input parameter at the next moment output by the brake control model.

In the implementation manner, the third electronic device acquires a brake control model from the third simulation program, inputs the brake distance and the brake output parameter at the current moment into the brake control model, determines the brake input parameter at the next moment through the brake control model, then sends the brake input parameter at the next moment to the second electronic device, determines the brake output parameter at the next moment based on the brake input parameter at the next moment, then sends the brake output parameter to the third electronic device, and the third electronic device determines the brake input parameter at the next moment. The operation is repeated as such until the first vehicle stops traveling.

It can be seen from this: the output of the whole vehicle dynamics model is the input of the brake control model, the output of the brake control model is the input of the whole vehicle dynamics model, the whole vehicle dynamics model and the brake control model form a closed loop to form a joint simulation model together, and the brake performance of the vehicle in different states is simulated through the joint simulation model. Referring to fig. 5, the first electronic device calls the VTD to transmit the driver parameters, the road friction coefficient, the road height information, the sensor information, and the like to the carsim of the second electronic device, the second electronic device calls the carsim to output the speed, the acceleration, the position, the posture, and the like of the first vehicle at the current time through the whole vehicle dynamics model, then transmits the same to the simulink of the third electronic device, the third electronic device calls the simulink to output the brake master cylinder pressure, the accelerator opening, and the like at the next time through the brake control model, then transmits the same to the carsim of the second electronic device, and repeats the operation until the first vehicle stops traveling.

In the embodiment of the application, the second electronic device further sends the braking input parameters of each moment to the first electronic device, the first electronic device calls the first simulation program, and the braking simulation process of the first vehicle is displayed based on the scene information and the braking input parameters of each moment.

In this implementation, the second electronic device may send the brake input parameter at each time to the first electronic device every time the brake input parameter at that time is obtained, and the first electronic equipment calls a first simulation program to display a braking simulation process of the first vehicle from the last moment to the moment, and finally, the first electronic equipment displays the braking simulation process of the first vehicle based on the braking input parameters of each moment.

When the second electronic device sends the brake input parameters to the first electronic device, the brake input parameters can be packaged into an RDB data format and then sent to the first electronic device through a communication interface. For the first electronic device, when the first electronic device displays a brake simulation process of the first vehicle, can be displayed in the form of simulated animation, thus facilitating the user to intuitively understand the braking performance of the first vehicle. Referring to fig. 6, in fig. 6, a static scene is created first, then a dynamic scene is created, then a whole vehicle dynamics model is created, then a brake input parameter and a brake output parameter are set, the brake performance of the vehicle is simulated through joint simulation, and finally the brake simulation process of the vehicle is displayed through simulation animation.

In the embodiment of the application, the real vehicle research period can be shortened through the VTD, simulink and carsim joint simulation, and various performance analysis requirements can be met. And a foundation can be laid for analysis of intelligent driving level through joint simulation, the scene applicability is wide, and joint simulation can be carried out with other analysis software.

In this embodiment of the present application, the second electronic device may invoke the second simulation program to output a braking output parameter at each moment, and determine a speed change condition of the first vehicle during braking based on the braking output parameter at each moment. Accordingly, the process may be: the second electronic device is used for calling a second simulation program to display a parameter interface; the parameter interface includes a parameter export option; deriving a brake output parameter for each moment in response to a triggering operation of the parameter derivation option; based on the brake output parameter at each moment, a speed change condition of the first vehicle during braking is determined.

In this implementation manner, the brake output parameter includes a speed of the first vehicle, so the second electronic device may draw a speed change curve of the first vehicle during the braking process based on the speed of each moment, to obtain a speed change condition of the first vehicle. Referring to fig. 7, the solid line in fig. 7 is the actual speed change of the first vehicle during braking, and the broken line is the simulated speed change of the first vehicle during braking. It can be seen that: the speed change condition simulated by the scheme of the application is relatively close to the actual speed change condition of the vehicle.

In this embodiment of the present application, the second electronic device may also determine an acceleration change condition and other change conditions of the first vehicle during braking based on the brake output parameter, or determine a change condition of the master cylinder pressure of the first vehicle during braking based on the brake input parameter, which is not limited in particular. In addition, the user can also call a third simulation program through the third electronic device to derive a brake output parameter or a brake input parameter at each moment, and then determine the speed change condition of the first vehicle in the braking process or the change condition of the brake master cylinder pressure and the like.

It should be noted that road conditions (such as road friction coefficient) and different vehicle dynamics models all affect the braking effect of the vehicle, and the phenomenon of untimely braking and even sliding occurs. According to the method, the static scene and the dynamic scene required by simulation are established by setting different road friction coefficients and different vehicle dynamics models, early evaluation of braking control is realized, the development period is shortened, the flexibility is higher, and the simulation result is more accurate.

Fig. 8 is a flowchart of a braking simulation method provided in an embodiment of the present application, referring to fig. 8, the method includes:

Step 801: the first electronic equipment calls a first simulation program to generate a braking simulation scene, and sends scene information of the braking simulation scene to the second electronic equipment.

Step 802: and the second electronic equipment calls a second simulation program to acquire the whole vehicle dynamics parameters of the first vehicle, and establishes a whole vehicle dynamics model based on the whole vehicle dynamics parameters.

Step 803: the second electronic equipment acquires the braking input parameter at the current moment, and inputs the braking input parameter at the current moment and scene information into the whole vehicle dynamics model to obtain the braking output parameter at the current moment output by the whole vehicle dynamics model; and sending the brake output parameter at the current moment to the third electronic equipment.

Step 804: and the third electronic equipment invokes a third simulation program, determines the brake input parameter of the first vehicle at the next moment based on the brake output parameter at the current moment, and sends the brake input parameter at the next moment to the second electronic equipment.

Step 805: the second electronic equipment repeatedly executes the step of determining corresponding brake output parameters according to the acquired brake input parameters until the first vehicle stops running; the brake input parameters at each moment are sent to the first electronic device.

Step 806: the first electronic device invokes a first simulation program to display a brake simulation process of the first vehicle based on the scene information and the brake input parameters at each time.

the third electronic device invokes a third simulation program to determine a brake input parameter of the first vehicle at a next time based on the brake output parameter at the current time, including:

the third electronic equipment invokes a third simulation program, and determines a braking distance based on a road friction coefficient; a brake input parameter for a next time of the first vehicle is determined based on the brake distance and the brake output parameter for the current time.

the third electronic equipment acquires a brake control model; and inputting the braking distance and the braking output parameter at the current moment into a braking control model to obtain the braking input parameter at the next moment output by the braking control model.

In another possible implementation manner, the first electronic device invokes the first simulation program to generate a braking simulation scene, including:

The first electronic equipment calls a first simulation program to respectively generate a static scene and a dynamic scene; and adding the static scene into the dynamic scene to obtain a braking simulation scene.

In another possible implementation, the first electronic device invokes a first simulation program to generate a static scene, including:

the first electronic equipment calls a first simulation program to obtain a road friction coefficient, and generates a static scene based on the road friction coefficient.

In another possible implementation, the method further includes:

the second electronic equipment calls a second simulation program to display a parameter interface; the parameter interface comprises a parameter export option; deriving a brake output parameter for each moment in response to a triggering operation of the parameter derivation option; based on the brake output parameter at each moment, a speed change condition of the first vehicle during braking is determined.

The embodiment of the application provides a braking simulation method, which comprises the steps of generating a braking simulation scene through a first simulation program, determining a braking output parameter at each moment through a second simulation program, determining a braking input parameter at each moment through a third simulation program, and finally displaying a braking simulation process of a first vehicle through the first simulation program. Therefore, the method can simulate the braking performance of the vehicle in a combined way through a plurality of simulation programs, so that the braking performance of the vehicle can be simulated accurately, the simulation result is closer to the real vehicle state, and the simulation accuracy is improved.

It should be noted that, the braking simulation method provided in the embodiment of the present application and the embodiment of the braking simulation system described above belong to the same concept, and the specific process is detailed in the embodiment of the braking simulation system, and will not be described herein.

Referring to fig. 9, fig. 9 shows a block diagram of a terminal 900 provided in an exemplary embodiment of the present application. The terminal 900 may be a portable mobile terminal such as: a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III, motion picture expert compression standard audio plane 3), an MP4 (Moving Picture Experts Group Audio Layer IV, motion picture expert compression standard audio plane 4) player, a notebook computer, or a desktop computer. Terminal 900 may also be referred to by other names of user devices, portable terminals, laptop terminals, desktop terminals, etc.

In general, the terminal 900 includes: a processor 901 and a memory 902.

Processor 901 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 901 may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ). The processor 901 may also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also referred to as a CPU (Central Processing Unit ); a coprocessor is a low-power processor for processing data in a standby state. In some embodiments, the processor 901 may integrate a GPU (Graphics Processing Unit, image processor) for taking care of rendering and drawing of content that the display screen needs to display. In some embodiments, the processor 901 may also include an AI (Artificial Intelligence ) processor for processing computing operations related to machine learning.

The memory 902 may include one or more computer-readable storage media, which may be non-transitory. The memory 902 may also include high-speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In some embodiments, a non-transitory computer readable storage medium in memory 902 is used to store at least one program code for execution by processor 901 to implement the brake simulation method provided by the method embodiments herein.

In some embodiments, the terminal 900 may further optionally include: a peripheral interface 903, and at least one peripheral. The processor 901, memory 902, and peripheral interface 903 may be connected by a bus or signal line. The individual peripheral devices may be connected to the peripheral device interface 903 via buses, signal lines, or circuit boards. Specifically, the peripheral device includes: at least one of radio frequency circuitry 904, a display 905, a camera assembly 906, audio circuitry 907, and a power source 908.

The peripheral interface 903 may be used to connect at least one peripheral device associated with an I/O (Input/Output) to the processor 901 and the memory 902. In some embodiments, the processor 901, memory 902, and peripheral interface 903 are integrated on the same chip or circuit board; in some other embodiments, either or both of the processor 901, the memory 902, and the peripheral interface 903 may be implemented on separate chips or circuit boards, which is not limited in this embodiment.

The Radio Frequency circuit 904 is configured to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 904 communicates with a communication network and other communication devices via electromagnetic signals. The radio frequency circuit 904 converts an electrical signal into an electromagnetic signal for transmission, or converts a received electromagnetic signal into an electrical signal. Optionally, the radio frequency circuit 904 includes: antenna systems, RF transceivers, one or more amplifiers, tuners, oscillators, digital signal processors, codec chipsets, subscriber identity module cards, and so forth. The radio frequency circuit 904 may communicate with other terminals via at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: the world wide web, metropolitan area networks, intranets, generation mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks, and/or WiFi (Wireless Fidelity ) networks. In some embodiments, the radio frequency circuit 904 may also include NFC (Near Field Communication ) related circuits, which are not limited in this application.

The display 905 is used to display a UI (User Interface). The UI may include graphics, text, icons, video, and any combination thereof. When the display 905 is a touch display, the display 905 also has the ability to capture touch signals at or above the surface of the display 905. The touch signal may be input as a control signal to the processor 901 for processing. At this time, the display 905 may also be used to provide virtual buttons and/or a virtual keyboard, also referred to as soft buttons and/or a soft keyboard. In some embodiments, the display 905 may be one and disposed on the front panel of the terminal 900; in other embodiments, the display 905 may be at least two, respectively disposed on different surfaces of the terminal 900 or in a folded design; in other embodiments, the display 905 may be a flexible display disposed on a curved surface or a folded surface of the terminal 900. Even more, the display 905 may be arranged in an irregular pattern other than rectangular, i.e., a shaped screen. The display 905 may be made of LCD (Liquid Crystal Display ), OLED (Organic Light-Emitting Diode) or other materials.

The camera assembly 906 is used to capture images or video. Optionally, the camera assembly 906 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal and the rear camera is disposed on the rear surface of the terminal. In some embodiments, the at least two rear cameras are any one of a main camera, a depth camera, a wide-angle camera and a tele camera, so as to realize that the main camera and the depth camera are fused to realize a background blurring function, and the main camera and the wide-angle camera are fused to realize a panoramic shooting and Virtual Reality (VR) shooting function or other fusion shooting functions. In some embodiments, camera assembly 906 may also include a flash. The flash lamp can be a single-color temperature flash lamp or a double-color temperature flash lamp. The dual-color temperature flash lamp refers to a combination of a warm light flash lamp and a cold light flash lamp, and can be used for light compensation under different color temperatures.

The audio circuit 907 may include a microphone and a speaker. The microphone is used for collecting sound waves of users and the environment, converting the sound waves into electric signals, and inputting the electric signals to the processor 901 for processing, or inputting the electric signals to the radio frequency circuit 904 for voice communication. For purposes of stereo acquisition or noise reduction, the microphone may be plural and disposed at different portions of the terminal 900. The microphone may also be an array microphone or an omni-directional pickup microphone. The speaker is used to convert electrical signals from the processor 901 or the radio frequency circuit 904 into sound waves. The speaker may be a conventional thin film speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only the electric signal can be converted into a sound wave audible to humans, but also the electric signal can be converted into a sound wave inaudible to humans for ranging and other purposes. In some embodiments, the audio circuit 907 may also include a headphone jack.

A power supply 908 is used to power the various components in the terminal 900. The power source 908 may be alternating current, direct current, disposable or rechargeable. When the power source 908 comprises a rechargeable battery, the rechargeable battery may be a wired rechargeable battery or a wireless rechargeable battery. The wired rechargeable battery is a battery charged through a wired line, and the wireless rechargeable battery is a battery charged through a wireless coil. The rechargeable battery may also be used to support fast charge technology.

In some embodiments, terminal 900 can further include one or more sensors 909. The one or more sensors 909 include, but are not limited to: acceleration sensor 910, gyroscope sensor 911, pressure sensor 912, optical sensor 913, and proximity sensor 914.

The acceleration sensor 910 may detect the magnitudes of accelerations on three coordinate axes of a coordinate system established with the terminal 900. For example, the acceleration sensor 910 may be used to detect components of gravitational acceleration in three coordinate axes. The processor 901 may control the display 905 to display the user interface in a landscape view or a portrait view based on the gravitational acceleration signal acquired by the acceleration sensor 910. The acceleration sensor 910 may also be used for the acquisition of motion data of a game or a user.

The gyro sensor 911 may detect the body direction and the rotation angle of the terminal 900, and the gyro sensor 911 may collect the 3D motion of the user to the terminal 900 in cooperation with the acceleration sensor 910. Based on the data collected by the gyro sensor 911, the processor 901 may implement the following functions: motion sensing (such as changing the UI based on a tilting operation by the user), image stabilization at shooting, game control, and inertial navigation.

Pressure sensor 912 may be disposed on a side frame of terminal 900 and/or on an underside of display 905. When the pressure sensor 912 is disposed at a side frame of the terminal 900, a grip signal of the terminal 900 by a user may be detected, and left-right hand recognition or shortcut operation is performed by the processor 901 based on the grip signal collected by the pressure sensor 912. When the pressure sensor 912 is provided at the lower layer of the display 905, control of the operability control on the UI interface is realized by the processor 901 based on the pressure operation of the display 905 by the user. The operability controls include at least one of a button control, a scroll bar control, an icon control, and a menu control.

The optical sensor 913 is used to collect the intensity of the ambient light. In one embodiment, the processor 901 may control the display brightness of the display panel 905 based on the intensity of ambient light collected by the optical sensor 913. Specifically, when the ambient light intensity is high, the display luminance of the display screen 905 is turned up; when the ambient light intensity is low, the display luminance of the display panel 905 is turned down. In another embodiment, the processor 901 may also dynamically adjust the photographing parameters of the camera assembly 906 based on the intensity of the ambient light collected by the optical sensor 913.

A proximity sensor 914, also referred to as a distance sensor, is typically provided on the front panel of the terminal 900. The proximity sensor 914 is used to collect the distance between the user and the front of the terminal 900. In one embodiment, when the proximity sensor 914 detects that the distance between the user and the front face of the terminal 900 is gradually decreasing, the processor 901 controls the display 905 to switch from the bright screen state to the off screen state; when the proximity sensor 914 detects that the distance between the user and the front surface of the terminal 900 gradually increases, the processor 901 controls the display 905 to switch from the off-screen state to the on-screen state.

As will be appreciated by one of skill in the art, the structure shown in figure 9 does not constitute a limitation on terminal 900, more or fewer components than shown may be included, or certain components may be combined, or a different arrangement of components may be employed.

As can be seen from fig. 10, the server 1000 may include a processor (Central Processing Units, CPU) 1001 and a memory 1002, where the memory 1002 stores at least one program code, and the at least one program code is loaded and executed by the processor 1001 to implement the brake simulation method. Of course, the server 1000 may also have a wired or wireless network interface, a keyboard, an input/output interface, and other components for implementing the functions of the device, which are not described herein.

In an exemplary embodiment, there is also provided a computer readable storage medium storing at least one program code loaded and executed by a processor to implement the brake simulation method in the above-described embodiment.

In an exemplary embodiment, there is also provided a computer program product storing at least one program code loaded and executed by a processor to implement the brake simulation method in the above embodiment.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the above storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing is merely for facilitating understanding of the technical solutions of the present application by those skilled in the art, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A brake simulation system, the system comprising: the first electronic device, the second electronic device and the third electronic device; the first electronic equipment is provided with a first simulation program, the second electronic equipment is provided with a second simulation program, and the third electronic equipment is provided with a third simulation program;

2. The system of claim 1, wherein the scene information comprises a road friction coefficient;

3. The system of claim 2, wherein the third electronic device is configured to obtain a brake control model; and inputting the braking distance and the braking output parameter at the current moment into the braking control model to obtain the braking input parameter at the next moment output by the braking control model.

4. The system of claim 1, wherein the first electronic device is configured to invoke the first simulation program to generate a static scene and a dynamic scene, respectively; and adding the static scene into the dynamic scene to obtain the braking simulation scene.

5. The system of claim 4, wherein the first electronic device is configured to invoke the first simulation program to obtain a road friction coefficient, and generate the static scene based on the road friction coefficient.

6. The system of claim 1, wherein the second electronic device is configured to invoke the second simulation program display parameter interface; the parameter interface comprises a parameter export option; deriving a brake output parameter for each moment in time in response to a triggering operation of the parameter derivation option; and determining the speed change condition of the first vehicle in the braking process based on the braking output parameters at each moment.

7. A method of brake simulation, the method comprising:

8. An electronic device comprising a processor and a memory, wherein the memory has stored therein at least one program code that is loaded and executed by the processor to implement the brake simulation method of any of the electronic devices of claim 7.

9. A computer readable storage medium having stored therein at least one program code, the at least one program code loaded and executed by a processor to implement the brake simulation method as recited in claim 7.

10. A computer program product, characterized in that the computer program product has stored therein at least one program code, which is loaded and executed by a processor to implement the brake simulation method as claimed in claim 7.