Simulation test method and system for vehicle door opening warning system

Abstract

The application discloses a simulation test method and system of a vehicle door opening early warning system, which runs a simulation test scene through a graphic workstation, wherein the simulation test scene comprises a virtual ego vehicle, traffic participants and true value sensors, wherein the virtual ego vehicle is equipped with virtual sensors; the virtual sensors detect the relative poses of the traffic participants and the virtual ego vehicle, and generate detection results; based on the detection results, a controller equipped with the vehicle door opening early warning system outputs dangerous targets in the traffic participants and early warning actions; the true value sensors detect the relative pose true values of each traffic participant and the virtual ego vehicle; and a host computer determines the test results of the vehicle door opening early warning system according to the relative pose true values and the dangerous targets and early warning actions output by the controller, thereby realizing the evaluation of the function and performance of the vehicle door opening early warning system, and improving the test efficiency and development cycle of the vehicle door opening early warning system through simulation.

Description

Technical Field

[0001] This application relates to the field of autonomous driving simulation testing technology, specifically to a simulation testing method and system for a door opening warning system. Background Technology

[0002] A door opening warning system (DOW) is a system that monitors other road users to the side and rear of a vehicle when a door is about to open while the vehicle is parked, and issues a warning if there is a potential risk of collision with other road users due to the door opening. The development of a door opening warning system requires experimental verification of its functionality and performance.

[0003] In related technologies, the performance of door opening warning systems is typically tested through real-vehicle testing. However, real-vehicle testing within safe limits makes it difficult to accurately determine the true functionality and performance of the system. While extreme testing can reveal the system's true performance, it carries inherent risks. Furthermore, test drive scenarios require lengthy setup periods and detailed scenario coverage. Currently, there are no successful case studies of simulation testing for door opening warning systems.

[0004] Therefore, how to conduct simulation testing on the car door opening system is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a simulation testing method and system for a vehicle door opening warning system, which can improve the testing efficiency and development cycle of the vehicle door opening warning system.

[0006] In a first aspect, embodiments of this application provide a simulation testing method for a vehicle door opening warning system, the simulation testing method for the vehicle door opening warning system comprising:

[0007] The simulation test scenario is run through a graphics workstation. The simulation test scenario includes a virtual vehicle equipped with virtual sensors, traffic participants, and a ground truth sensor.

[0008] The virtual sensors are used to detect the relative poses of the traffic participants and the virtual vehicle, and the detection results are generated.

[0009] Based on the detection results, the controller equipped with the door opening warning system outputs the dangerous targets and warning actions among the traffic participants.

[0010] The truth sensor detects the relative pose truth values ​​of each traffic participant and the virtual vehicle.

[0011] The host computer determines the test results of the door opening warning system based on the relative pose truth value and the dangerous target and warning action output by the controller.

[0012] In conjunction with the first aspect, in one implementation, the step of outputting dangerous targets and warning actions among the traffic participants using a controller equipped with a door opening warning system based on the detection results includes:

[0013] When the controller receives the signal that the left door is open, it determines the estimated collision time between the traffic participant located in the first area in the detection result and the virtual vehicle door. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target.

[0014] When the controller receives the signal that the right door is open, it determines the estimated collision time between the traffic participant located in the second area in the detection result and the virtual vehicle door. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target.

[0015] When the presence of the dangerous target is confirmed, the warning action is output;

[0016] The first region includes a region consisting of a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a second line that is one door width away from the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a third line that is close to the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

[0017] The second region includes a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a fourth line one door width away from the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a fifth line close to the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

[0018] In one implementation, the test results of the door opening warning system are determined by a host computer based on the relative pose truth value and the dangerous target and warning action output by the controller, including:

[0019] The host computer determines the true value dangerous target based on the relative position true value, and generates a corresponding true value warning action when it determines that the true value dangerous target exists;

[0020] The test results of the door opening warning system are determined based on the dangerous target, the true dangerous target, the warning action, and the true warning action.

[0021] In one implementation, determining the test result of the vehicle door opening warning system based on the hazardous target, the true hazardous target, the warning action, and the true warning action includes:

[0022] If the error rate between the dangerous target and the true dangerous target is less than a preset error rate threshold, and the accuracy of the warning action relative to the true warning action is greater than a preset accuracy threshold, then the door opening warning system is determined to be qualified.

[0023] In one implementation, before running the simulation test scenario via a graphics workstation, the method further includes:

[0024] The virtual vehicle is built in the graphics workstation according to the size parameters of the target real vehicle, wherein the target real vehicle is the real vehicle used to install the door opening warning system.

[0025] The virtual sensors are configured on the virtual vehicle according to the types and installation locations of the sensors on the target real vehicle;

[0026] The dimensional parameters include the door position and door width, and the types of sensors include at least one of camera, ultrasonic radar, millimeter-wave radar and lidar.

[0027] In one implementation, the traffic participants include:

[0028] At least one of the following: truck, construction vehicle, transport vehicle, car, tricycle, two-wheeler, and pedestrian.

[0029] In one implementation, the simulation test scenario also includes road elements, which include straight roads, uphill roads, and downhill roads.

[0030] Secondly, embodiments of this application provide a simulation testing system for a vehicle door opening warning system, the simulation testing system for the vehicle door opening warning system comprising:

[0031] A graphics workstation for running simulation test scenarios, which include virtual vehicles equipped with virtual sensors, traffic participants, and ground truth sensors;

[0032] The virtual sensor is used to detect the relative pose of the traffic participant and the virtual vehicle, and generate detection results;

[0033] A controller equipped with a door opening warning system is used to output dangerous targets and warning actions among the traffic participants based on the detection results;

[0034] The truth sensor is used to detect the relative pose truth values ​​of each traffic participant and the virtual vehicle.

[0035] The host computer is used to determine the test results of the door opening warning system based on the relative pose truth value and the dangerous target and warning action output by the controller.

[0036] In conjunction with the second aspect, in one embodiment, the controller is further configured to:

[0037] Upon receiving a signal that the left door is open, the estimated collision time between the traffic participant located in the first area in the detection results and the virtual vehicle door is determined. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target.

[0038] Upon receiving a signal that the right-side door is open, the estimated collision time between the traffic participant located in the second area in the detection results and the virtual vehicle door is determined. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target.

[0039] When the presence of the dangerous target is confirmed, the warning action is output;

[0040] The first region includes a region consisting of a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a second line that is one door width away from the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a third line that is close to the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

[0041] The second region includes a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a fourth line one door width away from the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a fifth line close to the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

[0042] In one embodiment, the host computer is further used for:

[0043] The host computer determines the true value dangerous target based on the relative position true value, and generates a corresponding true value warning action when it determines that the true value dangerous target exists;

[0044] The test results of the door opening warning system are determined based on the dangerous target, the true dangerous target, the warning action, and the true warning action.

[0045] This application provides a simulation testing method and system for a vehicle door opening warning system. A simulation test scenario is run on a graphics workstation. The simulation test scenario includes a virtual vehicle equipped with virtual sensors, traffic participants, and a ground truth sensor. The virtual sensors detect the relative poses of the traffic participants and the virtual vehicle, generating detection results. Based on the detection results, a controller equipped with the vehicle door opening warning system outputs dangerous targets and warning actions from the traffic participants. The ground truth sensor detects the relative pose ground truth of each traffic participant and the virtual vehicle. A host computer determines the test results of the vehicle door opening warning system based on the relative pose ground truth and the dangerous targets and warning actions output by the controller. This allows for the evaluation of the function and performance of the vehicle door opening warning system, and simulation can improve the testing efficiency and development cycle of the system. Attached Figure Description

[0046] Figure 1 This is a flowchart illustrating the simulation test method for the door opening warning system of this application;

[0047] Figure 2 This is a schematic diagram of the first and second regions of this application;

[0048] Figure 3 This is a schematic diagram of the architecture of the simulation test system for the door opening warning system of this application. Detailed Implementation

[0049] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0050] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0051] In a first aspect, embodiments of this application provide a simulation testing method for a vehicle door opening warning system.

[0052] In one embodiment, reference is made to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the simulation test method for the door opening warning system of this application. Figure 1 As shown, the simulation test method for the door opening warning system includes:

[0053] Step S101: Run a simulation test scenario through a graphics workstation. The simulation test scenario includes a virtual vehicle equipped with virtual sensors, traffic participants, and a ground truth sensor.

[0054] In one embodiment, the simulation test scenario is further constructed in the graphics workstation before running the simulation test scenario via the graphics workstation.

[0055] Specifically, the virtual vehicle is constructed in the graphics workstation based on the size parameters of the target real vehicle, wherein the target real vehicle is the actual vehicle used to install the door opening warning system. The size parameters of the target real vehicle include the door position and door width.

[0056] The virtual sensors are configured on the virtual vehicle according to the types and installation locations of the sensors on the target real vehicle. The types of sensors include at least one of cameras, ultrasonic radar, millimeter-wave radar, and lidar.

[0057] Traffic participants in the simulation test scenario include at least one of the following: trucks, construction vehicles, public transport vehicles, cars, tricycles, two-wheelers, and pedestrians.

[0058] The simulation test scenario also includes road elements, which include straight roads, uphill roads, and downhill roads.

[0059] The truth sensor is used to detect the true relative poses of each traffic participant and the virtual vehicle in the simulation test scenario.

[0060] Step S102: Detect the relative pose of the traffic participant and the virtual vehicle using the virtual sensor, and generate the detection results.

[0061] It is worth noting that during the simulation test scenario, the virtual sensors configured on the virtual vehicle in the simulation test scenario will detect traffic participants around the virtual vehicle and transmit the detection results to the controller equipped with the door opening warning system in the manner specified in the working plan of the door opening warning system.

[0062] Step S103: Based on the detection results, the controller equipped with the door opening warning system outputs the dangerous targets and warning actions among the traffic participants.

[0063] Specifically, when the controller receives the signal that the left door is open, it determines the estimated collision time between the traffic participant located in the first area in the detection results and the virtual vehicle door. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target.

[0064] When the controller receives a signal indicating that the right-side door is open, it determines the estimated collision time between the traffic participant located in the second area of ​​the detection results and the virtual vehicle door. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is identified as the dangerous target. In this embodiment, the collision time threshold can be determined according to the control strategy of the door opening warning system.

[0065] When the controller detects a dangerous target, it outputs a warning action. This warning action includes the controller outputting a control signal to activate a buzzer, displaying a door opening warning image, and indicating the dangerous target.

[0066] The first region includes a region consisting of a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a second line one door width away from the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a third line close to the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

[0067] The second region includes a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a fourth line one door width away from the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a fifth line close to the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

[0068] Exemplary, such as Figure 2 As shown, the first line is line A, the second line is line B, the third line is line C, the fourth line is line D, and the fifth line is line E. The area formed by lines A, B, and C is the first area; the area formed by lines A, C, and D is the second area.

[0069] Step S104: Detect the relative pose truth values ​​of each traffic participant and the virtual vehicle using the truth sensor. The truth sensor transmits the detected relative pose truth values ​​of the traffic participants and the virtual vehicle to the host computer.

[0070] Step S105: The host computer determines the test results of the door opening warning system based on the relative pose truth value and the dangerous target and warning action output by the controller.

[0071] In one embodiment, the host computer determines a true danger target based on the relative position true value, and generates a corresponding true warning action when the existence of the true danger target is determined; the test result of the door opening warning system is determined based on the danger target, the true danger target, the warning action, and the true warning action.

[0072] Specifically, if the error rate between the dangerous target and the true dangerous target is less than a preset error rate threshold, and the accuracy of the warning action relative to the true warning action is greater than a preset accuracy threshold, then the door opening warning system is determined to be qualified.

[0073] In this exemplary embodiment, the host computer compares the hazard targets perceived by the virtual vehicle's sensing system with the relative pose of the virtual vehicle and the true relative pose values ​​between the virtual vehicle and all road participants identified by the ground truth sensors. Simultaneously, it performs theoretical calculations and compares the door collision warning actions (buzzer, video) with the data received from the ground truth sensors to evaluate the performance of the door collision warning system. In this embodiment, the error rate threshold is 5%, and the accuracy threshold is 99%. That is, under different traffic participants, if the error rate between the hazard targets identified by the door collision warning system's sensing sensors and the true values ​​of the hazard targets is less than 5%, and the accuracy rate of the door collision warning system's warning actions is greater than 99%, the door collision warning system is deemed to be performing adequately.

[0074] The simulation testing method for a door opening warning system provided in this application embodiment enables the evaluation of the function and performance of the door opening warning (DOW) system using virtual simulation testing, thereby improving the testing efficiency and development cycle of the door opening warning (DOW) system and providing methodological support for the testing and evaluation of autonomous driving systems.

[0075] Secondly, embodiments of this application also provide a simulation testing device for a door opening warning system.

[0076] In one embodiment, reference is made to Figure 3 , Figure 3 This is a functional module diagram of an embodiment of the simulation test device for the door opening warning system of this application. Figure 3 As shown, the simulation test device for the door opening warning system includes:

[0077] A graphics workstation for running simulation test scenarios, which include virtual vehicles equipped with virtual sensors, traffic participants, and ground truth sensors;

[0078] The virtual sensor is used to detect the relative pose of the traffic participant and the virtual vehicle, and generate detection results;

[0079] A controller equipped with a door opening warning system is used to output dangerous targets and warning actions among the traffic participants based on the detection results;

[0080] The truth sensor is used to detect the relative pose truth values ​​of each traffic participant and the virtual vehicle.

[0081] The host computer is used to determine the test results of the door opening warning system based on the relative pose truth value and the dangerous target and warning action output by the controller.

[0082] Furthermore, in one embodiment, the controller is also configured to:

[0083] Upon receiving a signal that the left door is open, the estimated collision time between the traffic participant located in the first area in the detection results and the virtual vehicle door is determined. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target.

[0084] Upon receiving a signal that the right-side door is open, the estimated collision time between the traffic participant located in the second area in the detection results and the virtual vehicle door is determined. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target.

[0085] When the presence of the dangerous target is confirmed, the warning action is output;

[0086] The first region includes a region consisting of a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a second line that is one door width away from the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a third line that is close to the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

[0087] The second region includes a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a fourth line one door width away from the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a fifth line close to the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

[0088] Furthermore, in one embodiment, the host computer is also used for:

[0089] The host computer determines the true value dangerous target based on the relative position true value, and generates a corresponding true value warning action when it determines that the true value dangerous target exists;

[0090] The test results of the door opening warning system are determined based on the dangerous target, the true dangerous target, the warning action, and the true warning action.

[0091] Furthermore, in one embodiment, the host computer is also used for:

[0092] If the error rate between the dangerous target and the true dangerous target is less than a preset error rate threshold, and the accuracy of the warning action relative to the true warning action is greater than a preset accuracy threshold, then the door opening warning system is determined to be qualified.

[0093] Furthermore, in one embodiment, the graphics workstation is also used for:

[0094] The virtual vehicle is built in the graphics workstation according to the size parameters of the target real vehicle, wherein the target real vehicle is the real vehicle used to install the door opening warning system.

[0095] The virtual sensors are configured on the virtual vehicle according to the types and installation locations of the sensors on the target real vehicle;

[0096] The dimensional parameters include the door position and door width, and the types of sensors include at least one of camera, ultrasonic radar, millimeter-wave radar and lidar.

[0097] Furthermore, in one embodiment, the traffic participants include:

[0098] At least one of the following: truck, construction vehicle, transport vehicle, car, tricycle, two-wheeler, and pedestrian.

[0099] Furthermore, in one embodiment, the simulation test scenario also includes road elements, which include straight roads, uphill roads, and downhill roads.

[0100] The functions of each module in the simulation test device for the aforementioned door opening warning system correspond to the steps in the simulation test method embodiment for the aforementioned door opening warning system, and their functions and implementation processes will not be described in detail here.

[0101] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0102] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0103] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0104] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0105] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0106] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0107] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A simulation test method for a vehicle door opening warning system, characterized in that, The simulation test method for the door opening warning system includes: The simulation test scenario is run through a graphics workstation. The simulation test scenario includes a virtual vehicle equipped with virtual sensors, traffic participants, and a ground truth sensor. The virtual sensors are used to detect the relative poses of the traffic participants and the virtual vehicle, and the detection results are generated. Based on the detection results, the controller equipped with the door opening warning system outputs the dangerous targets and warning actions among the traffic participants. The truth sensor detects the relative pose truth values ​​of each traffic participant and the virtual vehicle. The host computer determines the test results of the door opening warning system based on the relative pose truth value and the dangerous target and warning action output by the controller. Specifically, based on the detection results, the controller equipped with a door opening warning system outputs information about dangerous targets and warning actions among the traffic participants, including: When the controller receives the signal that the left door is open, it determines the estimated collision time between the traffic participant located in the first area in the detection result and the virtual vehicle door. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target. When the controller receives the signal that the right door is open, it determines the estimated collision time between the traffic participant located in the second area in the detection result and the virtual vehicle door. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target. When the presence of the dangerous target is confirmed, the warning action is output; The first region includes a region consisting of a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a second line that is one door width away from the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a third line that is close to the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body. The second region includes a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a fourth line one door width away from the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a fifth line close to the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

2. The simulation test method for the vehicle door opening warning system as described in claim 1, characterized in that, The test results of the door opening warning system are determined by the host computer based on the relative pose truth value and the dangerous target and warning action output by the controller, including: The host computer determines the true value dangerous target based on the relative pose true value, and generates a corresponding true value warning action when it determines that the true value dangerous target exists. The test results of the door opening warning system are determined based on the dangerous target, the true dangerous target, the warning action, and the true warning action.

3. The simulation test method for the door opening warning system as described in claim 2, characterized in that, Based on the hazardous target, the true hazardous target, the warning action, and the true warning action, the test results of the door opening warning system are determined, including: If the error rate between the dangerous target and the true dangerous target is less than a preset error rate threshold, and the accuracy of the warning action relative to the true warning action is greater than a preset accuracy threshold, then the door opening warning system is determined to be qualified.

4. The simulation test method for the vehicle door opening warning system as described in claim 1, characterized in that, Before running the simulation test scenario via a graphics workstation, the following is also included: The virtual vehicle is built in the graphics workstation according to the size parameters of the target real vehicle, wherein the target real vehicle is the real vehicle used to install the door opening warning system. The virtual sensors are configured on the virtual vehicle according to the types and installation locations of the sensors on the target real vehicle; The dimensional parameters include the door position and door width, and the types of sensors include at least one of camera, ultrasonic radar, millimeter-wave radar and lidar.

5. The simulation test method for the door opening warning system as described in claim 1, characterized in that, The traffic participants include: At least one of the following: truck, construction vehicle, transport vehicle, car, tricycle, two-wheeler, and pedestrian.

6. The simulation test method for the vehicle door opening warning system as described in claim 1, characterized in that: The simulation test scenario also includes road elements, which include straight roads, uphill roads, and downhill roads.

7. A simulation test system for a vehicle door opening warning system, characterized in that, The simulation test system for the door opening warning system includes: A graphics workstation for running simulation test scenarios, which include virtual vehicles equipped with virtual sensors, traffic participants, and ground truth sensors; The virtual sensor is used to detect the relative pose of the traffic participant and the virtual vehicle, and generate detection results; A controller equipped with a door opening warning system is used to output dangerous targets and warning actions among the traffic participants based on the detection results; The truth sensor is used to detect the relative pose truth values ​​of each traffic participant and the virtual vehicle. The host computer is used to determine the test results of the door opening warning system based on the relative pose truth value and the dangerous target and warning action output by the controller; The controller is further configured to: When the left door is opened, the estimated collision time between the traffic participant in the first area and the virtual vehicle door is determined. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target. Upon receiving a signal that the right-side door is open, the estimated collision time between the traffic participant located in the second area in the detection results and the virtual vehicle door is determined. If the estimated collision time is less than a preset collision time threshold, the corresponding traffic participant is determined to be the dangerous target. When the presence of the dangerous target is confirmed, the warning action is output; The first region includes a region consisting of a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a second line that is one door width away from the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a third line that is close to the left side of the vehicle body and parallel to the longitudinal direction of the vehicle body. The second region includes a first line perpendicular to the longitudinal direction of the vehicle body at the door mounting position, a fourth line one door width away from the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body, and a fifth line close to the right side of the vehicle body and parallel to the longitudinal direction of the vehicle body.

8. The simulation test system for the door opening warning system as described in claim 7, characterized in that, The host computer is also used for: The host computer determines the true value dangerous target based on the relative pose true value, and generates a corresponding true value warning action when it determines that the true value dangerous target exists. The test results of the door opening warning system are determined based on the dangerous target, the true dangerous target, the warning action, and the true warning action.

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