CN117540555A - Traffic flow scene simulation method and device, electronic equipment and storage medium - Google Patents

Abstract

The application relates to a traffic flow scene simulation method, a device, electronic equipment and a storage medium, wherein the method comprises the following steps: acquiring the current simulation demand of a user; based on the current simulation demand, simulating a traffic scene by using preset traffic system simulation software, acquiring first driving information of at least one auxiliary vehicle in the traffic scene and second driving information of a vehicle to be tested, and generating a first planning track of the vehicle to be tested according to the first driving information, map information corresponding to the traffic scene and the second driving information; and sending the first planning track to the vehicle to be tested, and acquiring an interaction result of the vehicle to be tested and at least one auxiliary vehicle in the driving process. Therefore, the problems that a large amount of time and labor are required to be consumed, the efficiency is low and all scenes cannot be exhausted are solved, the scene generation efficiency can be improved, and meanwhile, interaction with a test vehicle can be generated, so that the stability and the robustness of an automatic driving algorithm are fully tested.

Description

Traffic flow scene simulation method and device, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a traffic flow scene simulation method, a device, an electronic device, and a storage medium.

Background

In the automatic driving simulation test, a large number of scenes are often required for test verification of the decision and planning module, but traffic scenes possibly encountered on a road cannot be exhausted no matter the scenes are artificially built or the data recorded by the road test.

In the related art, there are two methods for testing decision-making and planning modules, one is to directly utilize simulation software to manually draw a scene, such as manually defining starting positions, speeds, accelerations, orientations, etc. of a vehicle and another vehicle, and determining starting time of the vehicle. And the other is to record a data packet on a real road through real vehicle testing, extract an effective scene and use the effective scene for iterative upgrade of a software algorithm. The real vehicle test can be designed manually or directly tested on public roads, interact with social vehicles and observe the algorithm output result.

However, the related art has the following problems: (1) Aiming at the method for manually drawing scenes by simulation software, the human cannot exhaust all scenes which can be met by an automatic driving vehicle on a public road; (2) The manually placed background vehicle is a well-determined parameter in advance, and cannot interact with the automatic driving vehicle, and if the vehicle algorithm is updated, the motion state of the vehicle changes, and the background vehicle cannot change.

Disclosure of Invention

The application provides a traffic flow scene simulation method, a device, electronic equipment and a storage medium, which are used for solving the problems that a great deal of time and labor are consumed, the efficiency is low and all scenes cannot be exhausted, building of rich scenes can be realized, the scene generation efficiency is improved, meanwhile, an auxiliary vehicle can interact with a test vehicle controlled by an automatic driving algorithm, and the stability and the robustness of the automatic driving algorithm can be fully tested.

An embodiment of a first aspect of the present application provides a traffic flow scene simulation method, including the following steps: acquiring the current simulation demand of a user; based on the current simulation demand, simulating a traffic scene by using preset traffic system simulation software, acquiring first running information of at least one auxiliary vehicle in the traffic scene and second running information of a vehicle to be tested, and generating a first planning track of the vehicle to be tested according to the first running information, map information corresponding to the traffic scene and the second running information; and sending the first planned track to the vehicle to be tested, and acquiring an interaction result of the vehicle to be tested and the at least one auxiliary vehicle in the running process.

Optionally, in some embodiments, the simulating the traffic scene with the preset traffic system simulation software includes: determining a first format map and vehicle configuration information, wherein the vehicle configuration information comprises the number of vehicles of the at least one auxiliary vehicle, a control model of each auxiliary vehicle and initial position information of the vehicle to be tested; the first format map is converted into a target format map corresponding to the preset traffic system simulation software, and the target format map, the number of vehicles of the at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested are sent to the preset traffic system simulation software so as to generate map information corresponding to the traffic scene according to the target format map, the number of vehicles of the at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested by using the preset traffic system simulation software.

Optionally, in some embodiments, the traffic flow scene simulation method further includes: and sending the first planned track and the second running information to the at least one auxiliary vehicle so as to generate a second planned track corresponding to each auxiliary vehicle based on the first planned track and the second running information through the at least one auxiliary vehicle.

Optionally, in some embodiments, after obtaining the interaction result of the vehicle to be tested with the at least one auxiliary vehicle during running, the method further includes: judging whether the interaction result meets a preset preservation condition or not; and if the interaction result meets the preset storage condition, storing the interaction information.

Optionally, in some embodiments, the generating the first planned track of the vehicle to be tested according to the first driving information, the map information corresponding to the traffic scene, and the second driving information includes: coordinate conversion is carried out on the first driving information, the map information corresponding to the traffic scene and the second driving information, and the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion are sent to an adaptive simulation module; the self-adaptive simulation module generates a first planning track based on the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion by using a preset algorithm, and sends the first planning track to the preset traffic system simulation software.

An embodiment of a second aspect of the present application provides a traffic flow scene simulation device, including: the acquisition module is used for acquiring the current simulation demand of the user; the simulation module is used for simulating a traffic scene by using preset traffic system simulation software based on the current simulation demand, acquiring first driving information of at least one auxiliary vehicle in the traffic scene and second driving information of a vehicle to be tested, and generating a first planning track of the vehicle to be tested according to the first driving information, map information corresponding to the traffic scene and the second driving information; and the sending module is used for sending the first planned track to the vehicle to be tested and obtaining an interaction result of the vehicle to be tested and the at least one auxiliary vehicle in the running process.

Optionally, in some embodiments, the simulation module includes: a determining unit configured to determine a first format map and vehicle configuration information, wherein the vehicle configuration information includes a number of vehicles of the at least one auxiliary vehicle, a control model of each auxiliary vehicle, and initial position information of the vehicle to be tested; the generation unit is used for converting the first format map into a target format map corresponding to the preset traffic system simulation software, and sending the target format map, the number of vehicles of the at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested to the preset traffic system simulation software so as to generate map information corresponding to the traffic scene according to the target format map, the number of vehicles of the at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested by using the preset traffic system simulation software.

Optionally, in some embodiments, the generating module is configured to send the first planned trajectory and the second driving information to the at least one auxiliary vehicle, so as to generate, by the at least one auxiliary vehicle, a second planned trajectory corresponding to each auxiliary vehicle based on the first planned trajectory and the second driving information.

Optionally, in some embodiments, after obtaining an interaction result of the vehicle to be tested with the at least one auxiliary vehicle during driving, the sending module further includes: the judging unit is used for judging whether the interaction result meets a preset preservation condition; and the storage unit is used for storing the interaction information when the interaction result meets the preset storage condition.

Optionally, in some embodiments, the simulation module includes: the coordinate conversion unit is used for carrying out coordinate conversion on the first running information, the map information corresponding to the traffic scene and the second running information, and sending the first running information, the map information corresponding to the traffic scene and the second running information after coordinate conversion to the self-adaptive simulation module; the simulation unit is used for generating a first planning track based on the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion by using a preset algorithm through the self-adaptive simulation module, and sending the first planning track to the preset traffic system simulation software.

An embodiment of a third aspect of the present application provides an electronic device, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the traffic flow scene simulation method according to the embodiment.

An embodiment of a fourth aspect of the present application provides a computer readable storage medium having stored thereon a computer program that is executed by a processor for implementing the traffic flow scene simulation method as described in the above embodiment.

The method comprises the steps of obtaining current simulation demands of users, simulating a traffic scene by using preset traffic system simulation software based on the current simulation demands, obtaining first driving information of at least one auxiliary vehicle in the traffic scene and second driving information of the vehicle to be tested, generating a first planning track of the vehicle to be tested according to the first driving information, map information corresponding to the traffic scene and the second driving information, sending the first planning track to the vehicle to be tested, and obtaining interaction results of the vehicle to be tested and the at least one auxiliary vehicle in the driving process. Therefore, the testing method in the related art is low in efficiency and cannot exhaust the problems of consuming a large amount of time and labor, can build rich scenes and improve the scene generation efficiency, and meanwhile, the auxiliary vehicle can interact with the testing vehicle controlled by the automatic driving algorithm, so that the stability and the robustness of the automatic driving algorithm can be fully tested.

Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.

Drawings

The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:

FIG. 1 is a flow chart of a traffic flow scene simulation method provided according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a traffic flow scene simulation method according to one embodiment of the present application;

fig. 3 is a schematic block diagram of a traffic flow scene simulation device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present application and are not to be construed as limiting the present application.

The following describes a traffic flow scene simulation method, a device, an electronic device and a storage medium according to embodiments of the present application with reference to the accompanying drawings. Aiming at the problems that a great deal of time and labor are required to be consumed, the efficiency is low and all scenes cannot be exhausted in the related art test method mentioned in the background art, the application provides a traffic flow scene simulation method. Therefore, the testing method in the related art is low in efficiency and cannot exhaust the problems of consuming a large amount of time and labor, can build rich scenes and improve the scene generation efficiency, and meanwhile, the auxiliary vehicle can interact with the testing vehicle controlled by the automatic driving algorithm, so that the stability and the robustness of the automatic driving algorithm can be fully tested.

Specifically, fig. 1 is a schematic flow chart of a traffic flow scene simulation method provided in an embodiment of the present application.

As shown in fig. 1, the traffic flow scene simulation method comprises the following steps:

in step S101, the current simulation demand of the user is acquired.

The current simulation requirement can be that a user needs to simulate, a certain scene is needed, and an auxiliary vehicle is needed.

Specifically, when a user needs to simulate, the embodiment of the application can acquire the current simulation requirement of the user; or the user needs to simulate under a certain scene, and the implementation of the method can acquire the current simulation requirement of the user on the scene; or, in the case that the auxiliary vehicle exists, the current simulation requirement of the user on the auxiliary vehicle can be acquired by the implementation of the application.

In step S102, based on the current simulation requirement, a traffic scene is simulated by using preset traffic system simulation software, first driving information of at least one auxiliary vehicle in the traffic scene and second driving information of a vehicle to be tested are obtained, and a first planned track of the vehicle to be tested is generated according to the first driving information, map information corresponding to the traffic scene and the second driving information.

The preset traffic simulation software can be sumo simulation software, the auxiliary vehicle is a vehicle for assisting in simulating a test vehicle, and the vehicle to be tested is a vehicle for testing.

It should be noted that, the embodiment of the present application may obtain the position, the speed, the heading angle, the sounding box coordinate, the traffic light color, the position, etc. of the auxiliary vehicle in the sensing range of the vehicle to be tested; the position, speed and course angle of the vehicle to be tested can be obtained, so that a first planned track of the vehicle to be tested can be generated by utilizing the data, wherein the first planned track can comprise coordinate positions, speed, acceleration and relative time of track points.

Specifically, after the current simulation requirement of the user is obtained, the traffic scene can be simulated through the preset traffic flow simulation software based on the current simulation requirement, at least one auxiliary vehicle and the vehicle to be tested are placed in the traffic scene to simulate the condition of a real road, the first running information of the auxiliary vehicle and the second running information of the vehicle to be tested in the traffic scene are obtained, and the first planning track of the vehicle to be tested is generated according to the first running information, the second running information and the map information in the traffic scene.

Optionally, in some embodiments, simulating the traffic scene with the preset traffic system simulation software includes: determining a first format map and vehicle configuration information, wherein the vehicle configuration information comprises the number of vehicles of at least one auxiliary vehicle, a control model of each auxiliary vehicle and initial position information of the vehicle to be tested; the first format map is converted into a target format map corresponding to preset traffic system simulation software, and the target format map, the number of vehicles of at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested are sent to the preset traffic system simulation software so that map information corresponding to a traffic scene is generated by the preset traffic system simulation software according to the target format map, the number of vehicles of at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested.

Here, a further explanation is made on how to simulate a traffic scene with preset traffic system simulation software.

It should be noted that the first format map may be a standard format map, and the control model of each auxiliary vehicle has a driver model, so that interaction can be performed on other auxiliary vehicles, traffic scenes and vehicles to be tested.

Specifically, the embodiment of the application converts the first format map into a target format map corresponding to preset traffic system simulation software, for example, converts a standard opendrive format map into a sumo. After format conversion, the embodiment of the application sends the target format map, the number of vehicles of at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested to preset traffic system simulation software to generate map information corresponding to traffic scenes, for example, according to configuration, a certain number of auxiliary vehicles are placed in sumo, according to the initial state of the vehicle to be tested, the vehicle to be tested is placed at a specified position of sumo, and the initial state is set, so that the auxiliary vehicles in sumo can identify the vehicle to be tested.

Optionally, in some embodiments, generating the first planned track of the vehicle to be tested according to the first driving information, the map information corresponding to the traffic scene and the second driving information includes: coordinate conversion is carried out on the first driving information, the map information corresponding to the traffic scene and the second driving information, and the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion are sent to the self-adaptive simulation module; the self-adaptive simulation module generates a first planning track based on the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion by using a preset algorithm, and sends the first planning track to preset traffic system simulation software.

The preset algorithm may be preset by a related person, and is not specifically limited herein.

Specifically, as shown in fig. 2, the preset traffic system simulation software may send the first driving information, the map information corresponding to the traffic scene and the second driving information to the adaptive simulation module of the vehicle to be tested, specifically, the preset traffic flow system simulation software performs coordinate conversion on the first driving information, the map information corresponding to the traffic scene and the second driving information and sends the coordinate converted first driving information, the map information corresponding to the traffic scene and the second driving information to the Bridge, and the adaptive simulation module performs simulation on the obtained information by using a preset algorithm to obtain a first planning track.

It should be noted that, in the embodiment of the present application, an adaptive simulation module of a vehicle to be tested may be built in advance, where the adaptive simulation module may include: the configuration of the initial and end states of the vehicle to be tested, the acquisition and transmission of upstream data such as sensing, mapping, positioning and the like, the upstream data are transmitted to an algorithm module, a path is planned through an automatic driving algorithm, and the vehicle to be tested can track the planned path according to the path to form a complete closed loop simulation test.

In step S103, the first planned track is sent to the vehicle to be tested, and an interaction result of the vehicle to be tested and at least one auxiliary vehicle in the driving process is obtained.

The interaction result may include driving information of the vehicle to be tested, driving information of the auxiliary vehicle, and environment information of the traffic map.

Specifically, referring to fig. 2, the adaptive simulation module uses at least two auxiliary vehicle data in a sensing range of the test vehicle as upstream sensing data, obtains a first planned track through algorithm calculation, updates a position and a posture of the vehicle to be tested according to the first planned track, sends the first planned track to a Bridge, converts coordinates of the first planned track, sends the first planned track to the vehicle to be tested, and obtains an interaction result of the vehicle to be tested and the at least one auxiliary vehicle in a driving process.

Optionally, in some embodiments, after obtaining an interaction result of the vehicle to be tested with the at least one auxiliary vehicle during driving, the method further includes: judging whether the interaction result meets a preset preservation condition or not; and if the interaction result meets the preset storage condition, storing the interaction information.

The preset storage conditions may be preset by a related person, or may be machine-learned, which is not particularly limited herein.

It can be appreciated that, in order to extract a valuable driving scenario, the embodiment of the present application may determine whether the interaction result satisfies a preset storage condition after obtaining the interaction result of the vehicle to be tested and at least one auxiliary vehicle during the driving process, and extract the valuable interaction result through the scenario extraction module when the interaction result satisfies the preset storage condition.

Optionally, in some embodiments, the traffic flow scene simulation method further includes: and transmitting the first planned track and the second running information to at least one auxiliary vehicle so as to generate a second planned track corresponding to each auxiliary vehicle based on the first planned track and the second running information through the at least one auxiliary vehicle.

It can be understood that, in order to better simulate the situation on the real road, the auxiliary vehicle according to the embodiment of the present application may carry a driver model, and generate a second planned track corresponding to each auxiliary vehicle by acquiring the first planned track of the vehicle to be tested and the second driving information of the auxiliary vehicle.

Therefore, the vehicle to be tested can identify the auxiliary vehicle and react to the behavior of the auxiliary vehicle, and similarly, the auxiliary vehicle can react to the behavior of the vehicle to be tested, so that interaction of two parties is formed, the situation on a real road can be simulated, and scene value is provided for subsequent simulation tests.

In order to enable those skilled in the art to further understand the traffic flow scene simulation method according to the embodiments of the present application, the following details are described in connection with specific embodiments.

Fig. 2 is a schematic diagram of a traffic flow scene simulation method according to an embodiment of the present application, as shown in fig. 2.

1. And starting an adaptive simulation module of the vehicle to be tested, and converting the opendrive format map into a net. And randomly placing a certain number of auxiliary vehicles in sumo according to the number configuration of the auxiliary vehicles, wherein all the auxiliary vehicles are provided with a driver model and controlled by the driver model.

2. And placing the vehicle to be tested at a sumo designated position according to the initial state configuration of the vehicle to be tested, wherein the vehicle to be tested is not controlled by the driver model.

3. And transmitting data such as other vehicle information in the perception range of the vehicle to be tested, positioning and map of the vehicle to be tested and the like to a self-adaptive simulation module of the vehicle to be tested through Bridge, wherein the vehicle to be tested generally publishes the upstream data through a middleware, and the corresponding algorithm module subscribes to generate a planning track, so that the vehicle to be tested tracks the path according to the track information.

4. And transmitting the updated position and pose information of the vehicle to be tested to sumo through Bridge, and simultaneously updating the vehicle to be tested in sumo.

5. Generating interaction between updated vehicle to be tested and auxiliary vehicle

6. The above process is cycled and valuable scenes are extracted by the scene extraction module.

Therefore, a certain number of auxiliary vehicles and vehicles to be tested are randomly placed in sumo, the vehicles to be tested and the auxiliary vehicles are controlled by an automatic driving algorithm and a driver model in sumo respectively, the vehicles to be tested can interact with the auxiliary vehicles, a bridge is built to mutually transmit vehicle state information, and finally valuable scenes are extracted according to states of the vehicles to be tested and the auxiliary vehicles through a scene extraction module. Because auxiliary vehicles in sumo are randomly placed and the driving track is random, more and richer scenes can be met compared with a method for manually building scenes or testing real vehicles. In addition, the auxiliary vehicle in sumo is provided with a driver model, can interact with the vehicle to be tested controlled by the automatic driving algorithm, and fully tests the stability and the robustness of the automatic driving algorithm.

According to the traffic flow scene simulation method provided by the embodiment of the application, the traffic scene is simulated by using the preset traffic system simulation software based on the current simulation demand by acquiring the current simulation demand of a user, the first running information of at least one auxiliary vehicle in the traffic scene and the second running information of the vehicle to be tested are acquired, the first planning track of the vehicle to be tested is generated according to the first running information, the map information corresponding to the traffic scene and the second running information, the first planning track is sent to the vehicle to be tested, and the interaction result of the vehicle to be tested and the at least one auxiliary vehicle in the running process is acquired. Therefore, the testing method in the related art is low in efficiency and cannot exhaust the problems of consuming a large amount of time and labor, can build rich scenes and improve the scene generation efficiency, and meanwhile, the auxiliary vehicle can interact with the testing vehicle controlled by the automatic driving algorithm, so that the stability and the robustness of the automatic driving algorithm can be fully tested.

Next, a traffic flow scene simulation device according to an embodiment of the present application will be described with reference to the accompanying drawings.

Fig. 3 is a block schematic diagram of a traffic flow scene simulation device according to an embodiment of the present application.

As shown in fig. 3, the traffic flow scene simulation apparatus 10 includes: an acquisition module 100, a simulation module 200 and a transmission module 300.

The obtaining module 100 is configured to obtain a current simulation requirement of a user.

The simulation module 200 is configured to simulate a traffic scene by using preset traffic system simulation software based on a current simulation requirement, obtain first driving information of at least one auxiliary vehicle in the traffic scene and second driving information of a vehicle to be tested, and generate a first planned track of the vehicle to be tested according to the first driving information, map information corresponding to the traffic scene and the second driving information.

The sending module 300 is configured to send the first planned track to the vehicle to be tested, and obtain an interaction result between the vehicle to be tested and at least one auxiliary vehicle during driving.

Optionally, in some embodiments, the simulation module 200 includes: a determining unit and a generating unit.

A determining unit, configured to determine a first format map and vehicle configuration information, where the vehicle configuration information includes a number of vehicles of at least one auxiliary vehicle, a control model of each auxiliary vehicle, and initial position information of a vehicle to be tested.

The generation unit is used for converting the first format map into a target format map corresponding to preset traffic system simulation software, and sending the target format map, the number of vehicles of at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested to the preset traffic system simulation software so as to generate map information corresponding to the traffic scene according to the target format map, the number of vehicles of at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested by using the preset traffic system simulation software.

Optionally, in some embodiments, the traffic flow scene simulation device 10 further includes: generating module

The generation module is used for sending the first planning track and the second driving information to at least one auxiliary vehicle so as to generate a second planning track corresponding to each auxiliary vehicle based on the first planning track and the second driving information through the at least one auxiliary vehicle.

Optionally, in some embodiments, after obtaining an interaction result of the vehicle to be tested with at least one auxiliary vehicle during driving, the sending module 300 further includes: a judging unit and a storing unit.

The judging unit is used for judging whether the interaction result meets the preset storage condition.

And the storage unit is used for storing the interaction information when the interaction result meets the preset storage condition.

Optionally, in some embodiments, the simulation module 200 includes: a coordinate conversion unit and a simulation unit.

The coordinate conversion unit is used for carrying out coordinate conversion on the first driving information, the map information corresponding to the traffic scene and the second driving information, and sending the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion to the self-adaptive simulation module.

The simulation unit is used for generating a first planning track based on the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion by using a preset algorithm through the self-adaptive simulation module, and sending the first planning track to preset traffic system simulation software.

It should be noted that the foregoing explanation of the embodiment of the traffic flow scene simulation method is also applicable to the traffic flow scene simulation device of this embodiment, and will not be repeated herein.

According to the traffic flow scene simulation device provided by the embodiment of the application, the traffic scene is simulated by using the preset traffic system simulation software based on the current simulation demand by acquiring the current simulation demand of a user, the first running information of at least one auxiliary vehicle in the traffic scene and the second running information of the vehicle to be tested are acquired, the first planning track of the vehicle to be tested is generated according to the first running information, the map information corresponding to the traffic scene and the second running information, the first planning track is sent to the vehicle to be tested, and the interaction result of the vehicle to be tested and the at least one auxiliary vehicle in the running process is acquired. Therefore, the testing method in the related art is low in efficiency and cannot exhaust the problems of consuming a large amount of time and labor, can build rich scenes and improve the scene generation efficiency, and meanwhile, the auxiliary vehicle can interact with the testing vehicle controlled by the automatic driving algorithm, so that the stability and the robustness of the automatic driving algorithm can be fully tested.

Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device may include:

memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.

The processor 402 implements the traffic flow scene simulation method provided in the above embodiment when executing the program.

Further, the electronic device further includes:

a communication interface 403 for communication between the memory 401 and the processor 402.

A memory 401 for storing a computer program executable on the processor 402.

The memory 401 may include high speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.

If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.

Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may perform communication with each other through internal interfaces.

The processor 402 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) or one or more integrated circuits configured to implement embodiments of the present application.

The embodiment of the application also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the traffic flow scene simulation method as above.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless explicitly defined otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.

Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.

Although embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives, and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. The traffic flow scene simulation method is characterized by comprising the following steps of:

acquiring the current simulation demand of a user;

based on the current simulation demand, simulating a traffic scene by using preset traffic system simulation software, acquiring first running information of at least one auxiliary vehicle in the traffic scene and second running information of a vehicle to be tested, and generating a first planning track of the vehicle to be tested according to the first running information, map information corresponding to the traffic scene and the second running information; and

and sending the first planning track to the vehicle to be tested, and acquiring an interaction result of the vehicle to be tested and the at least one auxiliary vehicle in the driving process.

2. The method of claim 1, wherein simulating the traffic scene using the predetermined traffic system simulation software comprises:

determining a first format map and vehicle configuration information, wherein the vehicle configuration information comprises the number of vehicles of the at least one auxiliary vehicle, a control model of each auxiliary vehicle and initial position information of the vehicle to be tested;

the first format map is converted into a target format map corresponding to the preset traffic system simulation software, and the target format map, the number of vehicles of the at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested are sent to the preset traffic system simulation software so as to generate map information corresponding to the traffic scene according to the target format map, the number of vehicles of the at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested by using the preset traffic system simulation software.

3. The method as recited in claim 2, further comprising:

and sending the first planned track and the second running information to the at least one auxiliary vehicle so as to generate a second planned track corresponding to each auxiliary vehicle based on the first planned track and the second running information through the at least one auxiliary vehicle.

4. The method according to claim 1, further comprising, after obtaining the result of the interaction of the vehicle under test with the at least one auxiliary vehicle during driving,:

judging whether the interaction result meets a preset preservation condition or not;

and if the interaction result meets the preset storage condition, storing the interaction information.

5. The method of claim 1, wherein the generating the first planned trajectory of the vehicle to be tested according to the first driving information, the map information corresponding to the traffic scene, and the second driving information comprises:

coordinate conversion is carried out on the first driving information, the map information corresponding to the traffic scene and the second driving information, and the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion are sent to an adaptive simulation module;

the self-adaptive simulation module generates a first planning track based on the first driving information, the map information corresponding to the traffic scene and the second driving information after coordinate conversion by using a preset algorithm, and sends the first planning track to the preset traffic system simulation software.

6. A traffic flow scene simulation device, comprising:

the acquisition module is used for acquiring the current simulation demand of the user;

the simulation module is used for simulating a traffic scene by using preset traffic system simulation software based on the current simulation demand, acquiring first driving information of at least one auxiliary vehicle in the traffic scene and second driving information of a vehicle to be tested, and generating a first planning track of the vehicle to be tested according to the first driving information, map information corresponding to the traffic scene and the second driving information; and

the sending module is used for sending the first planned track to the vehicle to be tested and obtaining an interaction result of the vehicle to be tested and the at least one auxiliary vehicle in the driving process.

7. The apparatus of claim 6, wherein the simulation module comprises:

a determining unit configured to determine a first format map and vehicle configuration information, wherein the vehicle configuration information includes a number of vehicles of the at least one auxiliary vehicle, a control model of each auxiliary vehicle, and initial position information of the vehicle to be tested;

the generation unit is used for converting the first format map into a target format map corresponding to the preset traffic system simulation software, and sending the target format map, the number of vehicles of the at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested to the preset traffic system simulation software so as to generate map information corresponding to the traffic scene according to the target format map, the number of vehicles of the at least one auxiliary vehicle, the control model of each auxiliary vehicle and the initial position information of the vehicle to be tested by using the preset traffic system simulation software.

8. The apparatus as recited in claim 6, further comprising:

the generation module is used for sending the first planning track and the second running information to the at least one auxiliary vehicle so as to generate a second planning track corresponding to each auxiliary vehicle based on the first planning track and the second running information through the at least one auxiliary vehicle.

9. An electronic device, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the traffic flow scene simulation method of any of claims 1-5.

10. A computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for implementing the traffic flow scene simulation method according to any of claims 1-5.