Method, apparatus, electronic device and storage medium for simulating a driving section

Abstract

The present invention discloses a method, device, electronic device and storage medium for simulating a driving section. The method includes: obtaining vehicle attribute information of a target vehicle and driving environment information of the driving environment to which the target vehicle belongs; wherein, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle; determining target working condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information; if the target working condition information is consistent with the preset working condition information, determining driving parameter information of the target vehicle in the driving section corresponding to the target working condition information according to the target working condition information and the vehicle attribute information; simulating at least one simulation scenario corresponding to the driving section according to the driving parameter information, and obtaining a large number of simulation scenarios by arranging and combining based on real congestion working condition scenario data, achieving the effect of generalizing the driving road condition scenarios.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of intelligent vehicle driving, and in particular, to a method, device, electronic device, and storage medium for simulating a driving section. Background Art

[0002] The Traffic Jam Pilot (TJP) is a function that the system can replace the driver to perform longitudinal and lateral control of the vehicle on congested highways or urban expressways. When the TJP function is activated, the vehicle can automatically perform lateral lane keeping and longitudinal following control within the same lane following the vehicle ahead. When a system breakdown or other emergency occurs, the driver is reminded to take over. If the driver still does not take over the vehicle within the specified time, the system will automatically decelerate and stop within the same lane.

[0003] After the TJP function is developed, it needs to go through a large number of tests to meet the requirements of in-vehicle application. As the core function of L3-level autonomous driving, TJP is gradually applied to various vehicle models. Using in-vehicle testing to optimize the autonomous driving algorithm is time-consuming and costly, and is strictly restricted by regulations. It is difficult to reproduce extreme scenarios, and there are safety hazards in in-vehicle testing. Therefore, simulation testing based on a scenario library is the main means to solve the testing of L3-level intelligent driving functions. Therefore, it is indispensable to build a simulation scenario library for congested operating conditions.

[0004] However, the current method is to directly use the congested condition data to generate a simulation scenario for simulation testing, resulting in few road condition scenario data and low coverage. Summary of the Invention

[0005] The present invention provides a method, device, electronic device, and storage medium for simulating a driving section to achieve the generalization of scenario data for congested conditions of the driving section and improve the scenario coverage.

[0006] In a first aspect, an embodiment of the present invention provides a method for simulating a driving section, which is characterized by including:

[0007] Obtain the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle;

[0008] Determine the target condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information;

[0009] If the target operating condition information is consistent with the preset operating condition information, determine the driving parameter information of the target vehicle in the driving section corresponding to the target operating condition information according to the target operating condition information and the vehicle attribute information;

[0010] Simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information

[0011] In a second aspect, an embodiment of the present invention further provides a device for simulating a driving section, which is characterized by including:

[0012] An information acquisition module, configured to acquire the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle;

[0013] An operating condition information determination module, configured to determine the target operating condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information;

[0014] A parameter information determination module, configured to, if the target operating condition information is consistent with the preset operating condition information, determine the driving parameter information of the target vehicle in the driving section corresponding to the target operating condition information according to the target operating condition information and the vehicle attribute information;

[0015] A simulation module, configured to simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information.

[0016] In a third aspect, an embodiment of the present invention further provides an electronic device, and the electronic device includes:

[0017] One or more processors;

[0018] A storage device, configured to store one or more programs,

[0019] When the one or more programs are executed by the one or more processors, the one or more processors implement the method for simulating a driving section as described in any one of the embodiments of the present invention.

[0020] In a fourth aspect, an embodiment of the present invention further provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the method for simulating a driving section as described in any one of the embodiments of the present invention when executed by a computer processor.

[0021] The technical solution of the embodiment of the present invention is to obtain the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs. Among them, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle. Further, according to whether the vehicle speed state of the target vehicle is in a low-speed state and whether the number of other surrounding vehicles exceeds a preset vehicle number, the target working condition information of the target vehicle at present can be determined. Determine the target working condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information, and determine whether it is necessary to obtain the driving parameter information of the target vehicle in the current driving section through the target working condition information. If the target working condition information is consistent with the preset working condition information, then according to the target working condition information and the vehicle attribute information, determine the driving parameter information of the target vehicle in the driving section corresponding to the target working condition information, determine the start-stop segments of the target vehicle and the start-stop segments of the surrounding vehicles according to the driving parameter information, and perform random permutations and combinations on the obtained start-stop segments. Simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information, be used for performing random permutations and combinations on the start-stop segments determined by the driving parameters, and further simulate a large number of simulation scenarios according to the working condition information of the real-scene driving sections with less amount, provide a large amount of scenario materials for the scenario library of the simulation test. Solve the problems that the driving scenarios collected on the real vehicle road are limited, and the simulation scenarios are simple and have a large difference from the real scenarios, realize simulation based on a small number of real driving scenarios, and then obtain the simulation scenario data of a large number of real scenarios, and improve the effect of the scenario coverage. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings introduced are only the drawings of a part of the embodiments to be described by the present invention, rather than all the drawings. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

[0023] Figure 1 It is a schematic flowchart of a method for simulating a driving section provided by Embodiment 1 of the present invention;

[0024] Figure 2 It is a schematic flowchart of a method for simulating a driving section provided by Embodiment 2 of the present invention;

[0025] Figure 3 It is a schematic diagram of a specific implementation manner of a method for simulating a driving section provided by Embodiment 2 of the present invention;

[0026] Figure 4A schematic diagram of the distribution of the number of stops of a target vehicle within one trip provided by the second embodiment of the present invention;

[0027] Figure 5 A schematic structural diagram of a device for simulating a driving section provided by the third embodiment of the present invention;

[0028] Figure 6 A schematic structural diagram of an electronic device provided by the fourth embodiment of the present invention. Detailed implementation manners

[0029] The present invention will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that, for the sake of description, only parts related to the present invention rather than all structures are shown in the drawings.

[0030] Embodiment 1

[0031] Figure 1 A schematic flowchart of a method for simulating a driving section provided by the first embodiment of the present invention. This embodiment is applicable to any situation of simulating a driving section. The method can be executed by a driving section simulation device, and the device can be implemented in the form of software and / or hardware. The hardware can be an electronic device, such as a mobile terminal or a PC, etc.

[0032] As Figure 1 described, the method of this embodiment includes:

[0033] S110. Obtain the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the driving environment information includes the number information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle.

[0034] Among them, the target vehicle can be understood as a vehicle for actual road tests, and the vehicle attribute information can be understood as some parameter information of the vehicle. For example, the vehicle attribute information can include speed information, steering wheel angle information, and vehicle position information, etc.; the specific vehicle type of the target vehicle is not limited and can include cars, buses, trucks, or buses, etc. The driving environment can be understood as the road environment in which the target vehicle is located during actual road tests. The driving environment can include information about other vehicles around the target vehicle during its driving, such as the number information of other vehicles around the target vehicle. The surrounding of the target vehicle includes eight directions, specifically including the front, rear, left, right, left front, left rear, right front, and right rear of the target vehicle.

[0035] Specifically, during the driving process of the target vehicle, the current vehicle speed of the target vehicle can be obtained through the vehicle speed measurement system installed in the target vehicle. Based on the range of the current vehicle speed, the current driving state of the target vehicle can be judged, and then the road state of the current driving road of the target vehicle can be judged. In addition, the driving environment information around the vehicle can be collected according to the road condition collection device in the target vehicle. For example, a large amount of environment information around the target vehicle can be obtained through various sensors, including the vehicle's own state, the number of surrounding vehicles, traffic flow information, road conditions, and traffic signs, etc.; the environment information around the target vehicle can also be generated into point cloud data by the method of laser point cloud, and a grid map of the vehicle's surrounding environment can be obtained according to the backhaul point cloud data; the information of surrounding vehicles or obstacles around the target vehicle can also be obtained by the method of neural network, and then the driving environment can be judged.

[0036] Optionally, obtaining the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs includes: when it is determined based on GPS that the target vehicle is driving on a preset road type, obtaining the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the preset road type includes a highway road type and a rapid transit road type.

[0037] Among them, GPS is a satellite positioning system that can be used to accurately locate the current position of the target vehicle; the preset road can be understood as the road during actual road tests.

[0038] Specifically, during the driving process of the target vehicle, the GPS system in the target vehicle can real-time locate the current position where the target vehicle is located, and then feedback the position of the target vehicle to the monitoring platform of the target vehicle. Through the feedback result of the GPS positioning system, it can be judged the current position where the vehicle is located and whether the road type of this road is the preset road type. If the road type on which the target vehicle is currently driving is the preset road type, the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs can be obtained. Among them, to obtain the attribute information of the target vehicle, for example, the target vehicle can be detected through the speed sensor in the target vehicle to obtain the vehicle speed information. The way to obtain the driving environment information can be by taking pictures of the environment information around the target vehicle, or by radar detection. After obtaining the driving environment information, judge the number of other surrounding vehicles or whether there are other obstacles; it can also scan the surrounding environment by lidar scanning to obtain the environment information, etc.

[0039] S120. Determine the target working condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information.

[0040] Among them, the target operating condition information of the target vehicle can be understood as the driving environment information of the target vehicle during its driving process, which may include road vehicle congestion operating condition information, road vehicle normal operating condition information, road vehicle sparse operating condition information, and whether the current driving road of the target vehicle is a preset road.

[0041] For example, the target operating condition information of the target vehicle can be determined based on vehicle attribute information of the target vehicle, such as vehicle speed information. Under normal circumstances, when the target vehicle is traveling normally on a preset road, the vehicle speed is relatively high. However, when the preset road is congested, the vehicle speed is relatively low. Therefore, the target operating condition information of the target vehicle's current road can be determined based on the target vehicle's speed information.

[0042] For example, the target operating condition information of the target vehicle can be determined based on the target vehicle's driving environment, such as the number of other vehicles surrounding the target vehicle. When determining the target operating condition based on the number of other vehicles, a vehicle number threshold can be pre-set. For example, the vehicle number threshold can be set to 5. When 5 or more other vehicles are detected within a certain range around the target vehicle, and the number of other vehicles surrounding the target vehicle exceeds the threshold, the target operating condition information for the target vehicle's current road is determined.

[0043] For example, the target operating condition information of the target vehicle can also be determined by combining two factors: the target vehicle's speed and the target vehicle's driving environment. By combining these two different information, the target operating condition information of the road currently located by the target vehicle can be more accurately determined.

[0044] Optionally, before determining the target operating condition information of the target vehicle based on the vehicle attribute information and / or the driving environment information, it also includes: cleaning the vehicle attribute information and the driving environment information to determine the target operating condition of the target vehicle based on the cleaned vehicle attribute information and / or the driving environment information.

[0045] Specifically, since data may be missing or incorrect during the data collection process, before determining the target operating condition information of the target vehicle, the collected data can be cleaned to eliminate invalid data or interference data in the collected data. For example, when the target vehicle is driving, the vehicle speed information is high speed, there is a sudden change in the collected data, or there is a data interruption in the collected data. In these cases, the data collected can be regarded as problem data, and these data can be further processed, such as eliminated or corrected.

[0046] S130. If the target operating condition information is consistent with the preset operating condition information, then based on the target operating condition information and the vehicle attribute information, determine the driving parameter information of the target vehicle in the driving section corresponding to the target operating condition information.

[0047] Wherein, in the embodiments of the present invention, the preset operating condition information can be understood as in a preset road, and the target operating condition information is the road vehicle congestion operating condition information; the driving parameter information includes the distance, driving duration, waiting duration, start-stop times, speed, acceleration, and steering wheel angle of the start-stop segments of the target vehicle, as well as the distance, driving duration, waiting duration, start-stop times, speed, acceleration, and steering wheel angle of the start-stop segments of other vehicles associated with the target vehicle, etc.

[0048] Specifically, when it is detected that the current driving road of the target vehicle is a preset road, and the vehicle speed of the target vehicle is low, and / or the number of other vehicles around the target vehicle exceeds a threshold, it can be determined that the target operating condition information is consistent with the preset operating condition information, and then collect the driving parameter information of the target vehicle during the driving process that conforms to the preset operating condition information. Exemplarily, the vehicle speed information of the target vehicle during the driving process can include the current vehicle speed information of the target vehicle and the average vehicle speed information of the target vehicle over a period of time. The number of stops can include the number of stops of the target vehicle during a driving time period, or can also include the number of times the target vehicle continuously accelerates and decelerates during a period of time. The parking duration can be understood as the duration when the target vehicle is in a parked state; the low-speed driving duration can be understood as the duration when the target vehicle is driving at a low speed during the driving process. For example, when the speed of the target vehicle is lower than 20 km / h, it can be regarded as low-speed driving.

[0049] Optionally, the determining the target operating condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information includes: if the target vehicle speed in the vehicle attribute information is lower than a preset vehicle speed threshold, then determine that the target operating condition information of the target vehicle is a congestion condition; and / or, if the number information of other vehicles surrounding the target vehicle in the driving environment information is greater than a preset number threshold, then determine that the target operating condition information of the target vehicle is a congestion condition.

[0050] Specifically, when determining whether the target operating condition information of the target vehicle is a congestion condition, the collected vehicle and attribute information data and driving environment information data can be screened first. When performing data screening, a vehicle speed threshold of the target vehicle and a number threshold of other vehicles can be set. When the target vehicle speed is lower than the preset vehicle speed threshold, or when the number of other vehicles around the target vehicle in the driving environment is greater than the preset number threshold, it can be determined that the target operating condition information of the target vehicle is a congestion condition.

[0051] Optionally, the preset working condition information is a congestion condition. If the target working condition information is consistent with the preset working condition information, then according to the target working condition information and the vehicle attribute information, determine the driving parameter information of the target vehicle in the driving section corresponding to the target working condition information, including: If the target working condition information is a congestion condition, then according to the target working condition information and the target vehicle speed in the vehicle attribute information, segment the start-stop segments of the driving section to obtain the start-stop information of each segment in the driving section, and use the start-stop information as the driving parameter information.

[0052] Among them, the start-stop information can be understood as the information of the target vehicle starting and stopping during driving, which can include the number of starts and stops, start-stop duration, and start-stop interval, etc. The start-stop information not only includes the start-stop information of the target vehicle, but also includes the start-stop information of the vehicles around the target vehicle.

[0053] Specifically, according to the driving parameter information obtained during the driving of the target vehicle, including the distance, driving duration, waiting duration, number of starts and stops, speed, acceleration, and steering wheel angle of the start-stop segments of the target vehicle, and the distance, driving duration, waiting duration, number of starts and stops, speed, acceleration, and steering wheel angle of the start-stop segments of other vehicles associated with the target vehicle, etc. Further, according to these driving parameter information, determine the start-stop segments of the target vehicle and the vehicles around it, and simulate the determined start-stop segments to obtain at least one simulation scenario.

[0054] Optionally, the driving parameter information includes the distance, driving duration, waiting duration, number of starts and stops, speed, acceleration, and steering wheel angle of the start-stop segments of the target vehicle, and the distance, driving duration, waiting duration, number of starts and stops, speed, acceleration, and steering wheel angle of the start-stop segments of other vehicles associated with the target vehicle.

[0055] Among them, the distance of the start-stop segment can be understood as the distance from the vehicle starting to the vehicle stopping.

[0056] Specifically, through the driving parameter information, the driving state of the target vehicle on the preset road can be judged. For example, the distance of the start-stop segment is short, the number of starts and stops is large within a period of time, the driving duration after starting driving is short, or the waiting time during two vehicle starting processes is too long, etc. information, or other driving parameter information of the target vehicle or other vehicles, can all be used as a reference basis for judging whether the working condition information of the road where the target vehicle is currently located is consistent with the preset working condition information.

[0057] S140. Simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information.

[0058] Among them, simulation can be understood as using a model to imitate the operations of a real experiment or a real scenario based on simulation software. Generally, different simulation requirements can adopt different simulation methods.

[0059] Specifically, the driving parameter information of the target vehicle can be used to simulate the real scenario of the target vehicle during driving on a computer, and the start-stop segments of the target vehicle and the start-stop segments of surrounding vehicles can be obtained according to the driving parameter information during driving. Then, the obtained start-stop segments are recombined. Furthermore, a large number of congested traffic condition simulation scenarios are generalized using a limited number of real congested traffic condition scenarios, providing scenario materials for simulation scenario testing.

[0060] Optionally, the at least one simulation scenario corresponding to the driving section simulated according to the driving parameter information includes: arranging and combining the driving parameter information based on simulation software to obtain at least one simulation scenario corresponding to the driving section.

[0061] Among them, simulation software can be understood as computer software for simulation, which can include VTD software, Prescan software, Carsim software, etc. Simulation methods can include SimuWorks, virtual simulation, video simulation, image simulation, VR virtual simulation, infrared simulation, numerical control simulation, or 3D virtual simulation, etc. Different simulation methods require different simulation data, and different simulation data result in different simulation results.

[0062] Specifically, the start-stop segments of the target vehicle and the start-stop segments of surrounding vehicles determined by the vehicle attribute information of the target vehicle and the driving parameter information during the driving process of the target vehicle can be rearranged and combined to obtain a new simulation scenario. It can be understood that arranging and combining different start-stop segments can obtain multiple combination results. Therefore, a large number of simulation scenarios can be simulated based on the scenario materials of a limited number of real congested traffic conditions.

[0063] Exemplarily, the driving parameter information includes the distance, driving duration, waiting duration, start-stop times, speed, acceleration, and steering wheel angle of the start-stop segments of the target vehicle, as well as the distance, driving duration, waiting duration, start-stop times, speed, acceleration, and steering wheel angle of the start-stop segments of other vehicles associated with the target vehicle. When simulating the start-stop segments through simulation software, the current start-stop segment can be determined based on at least two parameters in the parameter information, and the determined start-stop segments can be recombined. Among them, the driving parameter information of the target vehicle includes the current vehicle speed and the driving mileage information. Exemplarily, on the same section of the road, it is possible to determine whether the current road condition is a congested road condition based on the passing time of the target vehicle on this section of the road. For example, if the driving duration of the target vehicle is short, it means that the current road condition is relatively smooth. If the time for the target vehicle to pass this section of the road is long, it can be determined that the current road condition is a congested road condition. The specific driving duration can be set customarily. Thus, the distances and driving durations of the start-stop segments of the target vehicle and the surrounding vehicles can be combined; the driving parameter information of the start-stop segments of the target vehicle and the surrounding vehicles and the parking intervals between the start-stop segments can be combined; the driving durations and waiting durations of the start-stop segments of the target vehicle and the surrounding vehicles can also be combined.

[0064] The technical solution of the embodiment of the present invention is to obtain the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle. Further, according to whether the vehicle speed state of the target vehicle is a low-speed state and whether the number of other surrounding vehicles exceeds a preset vehicle number, the target working condition information of the target vehicle at present can be determined. Determine the target working condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information, and determine whether it is necessary to obtain the driving parameter information of the target vehicle in the current driving section through the target working condition information. If the target working condition information is consistent with the preset working condition information, then according to the target working condition information and the vehicle attribute information, determine the driving parameter information of the target vehicle in the driving section corresponding to the target working condition information, determine the start-stop segments of the target vehicle and the start-stop segments of the surrounding vehicles according to the driving parameter information, and perform random permutation and combination on the obtained start-stop segments. Simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information, which is used to perform random permutation and combination on the start-stop segments determined by the driving parameters. Furthermore, a large number of simulation scenarios are simulated according to the working condition information of a small number of real scenario driving sections, providing a large amount of scenario materials for the scenario library of the simulation test. It solves the problems of limited driving scenarios collected on real vehicle roads, as well as the large difference between simple simulation scenarios and real scenarios, realizes simulation based on a small number of real driving scenarios, and then obtains a large amount of simulation scenario data of real scenarios, the obtained generalized scenarios are more in line with the real road conditions, and the effect of improving the scenario coverage is achieved.

[0065] Embodiment 2

[0066] As an optional embodiment of the above embodiment, Figure 2 It is a schematic flowchart of a method for simulating a driving section provided by Embodiment 2 of the present invention. The acquisition of the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs is further refined; wherein, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle.

[0067] As Figure 2 shown, the method specifically includes:

[0068] S210. Collect the target vehicle speed of the target vehicle based on a speed sensor disposed on the target vehicle.

[0069] Wherein, the speed sensor can be used to collect the current driving speed of the target vehicle, and the target vehicle speed can be understood as the current vehicle speed of the target vehicle.

[0070] Specifically, based on the speed sensor installed on the target vehicle, the target vehicle speed of the target vehicle is collected. According to the target vehicle speed of the target vehicle, the current driving state can be judged, and further, according to the driving state of the target vehicle, the current driving environment can be judged.

[0071] Exemplarily, the speed range of the target vehicle can be divided, and the driving state of the target vehicle can be correspondingly set. According to the speed range where the current vehicle speed is located, the driving state of the target vehicle can be judged. Furthermore, the driving state of the target vehicle can be used as the basis for judging the current driving environment of the target vehicle to judge the current driving environment of the target vehicle. For example, when the current vehicle speed range of the target vehicle is 0 km / h - 20 km / h, according to the pre-set vehicle driving state, the current driving state of the target vehicle can be determined as low-speed driving, then the driving environment where the target vehicle is currently located may be a congested road section; when the vehicle speed of the target vehicle is 20 km / h - 80 km / h, then the current driving state of the target vehicle is normal driving, and the driving environment where the target vehicle is currently located may be a normal road driving section; when the vehicle speed of the target vehicle is greater than 80 km / h, then the current driving state of the target vehicle is high-speed driving, and the driving environment where the target vehicle is currently located may be a highway or a bus rapid transit section.

[0072] S220. Based on the lidar and camera device installed on the target vehicle, determine the quantity information of other vehicles surrounding the target vehicle;

[0073] Among them, the lidar can be understood as a three-dimensional laser scanning system. By scanning the surrounding environment of the target vehicle with the lidar, the surrounding environment information of the target vehicle can be obtained, such as the quantity, driving speed, vehicle orientation, speed, acceleration, steering wheel angle, and vehicle attitude of other vehicles. The camera device on the target vehicle can capture the images around the vehicle and can be used to take the result of image recognition as the basis for judging the current driving environment through the method of image recognition.

[0074] Specifically, based on the lidar device and camera device installed on the target vehicle, the surrounding of the target vehicle can be scanned or photographed. Through the scanning result of the lidar, the state information of the surrounding environment of the target vehicle can be obtained; the driving environment where the target vehicle is currently located can also be determined through the images captured by the camera device installed on the target vehicle.

[0075] Exemplarily, the quantity information of other vehicles surrounding the target vehicle can be determined by a lidar device. The lidar device in the target vehicle emits laser beams to detect the positions of objects around the target vehicle, and then compares the received signals reflected from the objects with the transmitted signals. After appropriate processing, information such as the distance, azimuth, height, speed, attitude, and shape of the objects can be obtained. From the scanning results of the lidar device, the quantity of other vehicles around the target vehicle can be judged, and even the driving state information of other vehicles can be obtained.

[0076] Exemplarily, the quantity information of other vehicles surrounding the target vehicle can also be determined by image recognition. The imaging device installed on the target vehicle can capture image information around the target vehicle, which includes the quantity, azimuth, and vehicle state information of other vehicles. By recognizing the image, the quantity of other vehicles around the target vehicle can be obtained.

[0077] S230. Obtain the target vehicle speed and the quantity information of the target vehicle in real time or at intervals.

[0078] Specifically, the acquisition of the target vehicle speed information of the target vehicle and the acquisition method of the quantity information of other vehicles can be obtained in real time or at intervals. For example, it can be obtained when the vehicle speed is low, when the vehicle start-stop segment is long, or when the number of vehicle start-stops is large. The specific timing for obtaining the vehicle speed and the quantity information of other vehicles can be custom-set, and the embodiments of the present invention do not make specific limitations.

[0079] S240. Determine the target operating condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information.

[0080] S250. If the target operating condition information is consistent with the preset operating condition information, then determine the driving parameter information of the target vehicle in the driving section corresponding to the target operating condition information according to the target operating condition information and the vehicle attribute information.

[0081] S260. Simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information.

[0082] As Figure 3 shown, Figure 3 This is a schematic diagram of the specific implementation manner of a method for simulating a driving section provided by an embodiment of the present invention.

[0083] In a specific example, based on GPS, it can be determined whether the target vehicle is currently on a preset road (high-speed road or expressway). When the target vehicle is on the preset road, the vehicle speed information of the target vehicle can be obtained based on the speed measurement device in the target vehicle, and the number of other vehicles around the target vehicle and the driving parameter information during the driving process can be collected based on the lidar device or camera device on the target vehicle. After obtaining the vehicle speed information, the number information of other vehicles, and the driving parameter information during the driving process, the acquired data can be cleaned and screened. The program or software can be used to check whether there is any missing data. For example, whether there is a situation where the acquisition time is discontinuous, the acquired data is incomplete, or the sensor gives a false alarm in the data. If there is such data, these data are regarded as problem data and are either eliminated or corrected. At the same time, it is also necessary to determine whether each parameter information is normal. Exemplarily, when the vehicle speed of the target vehicle is too high (for example, greater than 300 km / h), or the number of other vehicles is too small (for example, the number is 0), these abnormally distributed data can be directly eliminated.

[0084] After screening the data, the congested road conditions are further screened. The specific screening method can be to screen based on the vehicle speed of the target vehicle. For example, when the vehicle speed is less than 40 km / h, it is determined that the current road is in a congested condition for road vehicles, and the scene data of this driving section is screened out; it can also be screened based on the number of other vehicles around the target vehicle. For example, when the number of other vehicles is 5 or more than that, it is determined that the current road is in a congested condition for road vehicles, and the scene data of this driving section is screened out; it can also be screened by combining the vehicle speed and the number of other vehicles.

[0085] After the data screening is completed, the start-stop segments of the target vehicle and the surrounding vehicles are selected, the start-stop segments of the congested journey are segmented, and a start-stop segment database is established. Then, data analysis is performed on the start-stop segments of the target vehicle and the surrounding vehicles. For example, it can be the distribution of the number of stops of the target vehicle within a driving distance, and / or the distribution of the duration of each stop interval. Exemplarily, such as Figure 4As shown, a total of 100 congestion scenarios are extracted, including 1,000 start-stop segment data. Now, 10,000 generalized congestion scenarios need to be extracted. Taking the start-stop frequency distribution as an example, combinations can be made based on the start-stop frequency distribution of the target vehicle. Combinations are made according to the proportion of each start-stop frequency. The scenarios where the vehicle starts and stops once in each congestion situation account for 10%. Taking 1,000 individual start-stop segments as scenarios, the scenarios where the vehicle starts and stops twice in each congestion situation account for 30%, then 3,000 scenarios are generalized by combining two start-stop segments. Similarly, taking the parking duration distribution as an example, if 50% of the parking durations are 10s, then the parking intervals in the combined start-stop segments are set to 10s more frequently, but other parking intervals should also be covered, just with a tilted setting ratio. The specific ratio setting can be adjusted according to the actual situation. Similarly, taking the congestion distance distribution as an example, the distance distribution of the generated generalized congestion scenarios is compared with the congestion travel distance distribution obtained through data analysis and calculation. If the distances are not much different, it is determined that the reorganized congestion travel is established; if the distances are quite different, the generalized scenarios with large differences are appropriately deleted or recombined. Finally, based on the simulation software, the simulation is carried out for these different permutation and combination results, and a large number of simulation scenarios of road congestion conditions are obtained by simulating the crowded vehicle scenarios on real roads.

[0086] The technical solution of this embodiment collects the target vehicle speed of the target vehicle based on the speed sensor set on the target vehicle. Through the target vehicle speed, the driving state of the target vehicle can be determined, and then it can be judged whether the driving environment where the target vehicle is located is a congested road condition. Based on the lidar and camera device set on the target vehicle, the quantity information of other vehicles surrounding the target vehicle is determined. If the number of other vehicles exceeds the threshold, or the processing results of the target vehicle speed and the number of other vehicles can also be combined to judge whether the driving environment where the target vehicle is located is a congested section. The target vehicle speed and the quantity information of the target vehicle are obtained in real time or at intervals to determine the target working condition information and driving environment information of the target vehicle; it solves the problems that it is not easy to collect the scene data of the real vehicle road congestion working condition and the lack of real scene simulation data, and realizes generalizing a large number of congestion working condition simulation scenarios from limited congestion working condition scenarios, and the obtained generalized scenarios are more in line with the real road effect.

[0087] Embodiment III

[0088] Figure 5 A device for simulating a driving section provided in Embodiment III of the present invention, the device includes: an information acquisition module 310, a working condition information determination module 320, a parameter information determination module 330, and a simulation module 340.

[0089] An information acquisition module 310 is configured to acquire vehicle attribute information of a target vehicle and driving environment information of a driving environment to which the target vehicle belongs; wherein, the driving environment information includes the number information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle.

[0090] A working condition information determination module 320 is configured to determine target working condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information.

[0091] A parameter information determination module 330 is configured to, if the target working condition information is consistent with preset working condition information, determine driving parameter information of the target vehicle in a driving section corresponding to the target working condition information according to the target working condition information and the vehicle attribute information.

[0092] A simulation module 340 is configured to simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information.

[0093] The technical solution of the embodiment of the present invention acquires vehicle attribute information of a target vehicle and driving environment information of a driving environment to which the target vehicle belongs; wherein, the driving environment information includes the number information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle. Further, according to whether the vehicle speed state of the target vehicle is a low-speed state and whether the number of other surrounding vehicles exceeds a preset vehicle number, the current target working condition information of the target vehicle can be determined. According to the vehicle attribute information and / or the driving environment information, the target working condition information of the target vehicle is determined, and it is determined whether it is necessary to acquire the form parameter information of the target vehicle in the current driving section through the target working condition information. If the target working condition information is consistent with the preset working condition information, the driving parameter information of the target vehicle in the driving section corresponding to the target working condition information is determined according to the target working condition information and the vehicle attribute information, the start-stop segments of the target vehicle and the start-stop segments of surrounding vehicles are determined according to the driving parameter information, and the obtained start-stop segments are randomly arranged and combined. At least one simulation scenario corresponding to the driving section is simulated according to the driving parameter information, which is used to randomly arrange and combine the start-stop segments determined by the driving parameters, and then a large number of simulation scenarios are simulated according to the working condition information of a small number of real-scene driving sections, providing a large number of scenario materials for the scenario library of the simulation test. It solves the problems of limited driving scenarios collected on real vehicle roads and the large difference between simple simulation scenarios and real scenarios, realizes simulation based on a small number of real driving scenarios, and then obtains a large number of simulation scenario data of real scenarios, improving the effect of scenario coverage.

[0094] Based on any optional technical solution in the embodiments of the present invention, optionally, the information acquisition module specifically includes:

[0095] A target vehicle speed acquisition unit, configured to acquire the target vehicle speed of the target vehicle based on a speed sensor disposed on the target vehicle;

[0096] A vehicle quantity information determination unit, configured to determine the quantity information of other vehicles surrounding the target vehicle based on a lidar and a camera device disposed on the target vehicle;

[0097] A target vehicle information acquisition unit, configured to acquire the target vehicle speed and the quantity information of the target vehicle in real time or at intervals.

[0098] Based on any optional technical solution in the embodiments of the present invention, optionally, the operating condition information determination module specifically includes:

[0099] An operating condition information determination first unit, configured to determine that the target operating condition information of the target vehicle is a congestion operating condition if the target vehicle speed in the vehicle attribute information is lower than a preset vehicle speed threshold; and / or,

[0100] An operating condition information determination second unit, configured to determine that the target operating condition information of the target vehicle is a congestion operating condition if the quantity information of other vehicles surrounding the target vehicle in the driving environment information is greater than a preset quantity threshold.

[0101] Based on any optional technical solution in the embodiments of the present invention, optionally, the parameter information determination module specifically includes:

[0102] A start-stop information acquisition unit, configured to, if the target operating condition information is a congestion operating condition, segment the driving section into start-stop segments according to the target operating condition information and the target vehicle speed in the vehicle attribute information, obtain the start-stop information of each segment in the driving section, and use the start-stop information as the driving parameter information.

[0103] In the driving parameter information, it includes the distance, driving duration, waiting duration, start-stop times, speed, acceleration, and steering wheel angle of the start-stop segments of the target vehicle, and the distance, driving duration, waiting duration, start-stop times, speed, acceleration, and steering wheel angle of the start-stop segments of other vehicles associated with the target vehicle.

[0104] Based on any optional technical solution in the embodiments of the present invention, optionally, the information acquisition module is used for:

[0105] When determining that the target vehicle is traveling on a preset road type based on GPS, obtain the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the preset road type includes a highway road type and a rapid access road type.

[0106] The device for simulating a driving section provided by an embodiment of the present invention can execute the method for simulating a driving section provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution of the method.

[0107] It should be noted that the various units and modules included in the above device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the embodiments of the present invention.

[0108] Embodiment 4

[0109] Figure 6 It is a schematic structural diagram of an electronic device provided for Embodiment 4 of the present invention. Figure 6 The block diagram of an exemplary electronic device 40 suitable for use in implementing the embodiments of the present invention is shown. Figure 6 The displayed electronic device 40 is only an example and should not bring any limitation to the functions and usage scope of the embodiments of the present invention.

[0110] As Figure 6 shown, the electronic device 40 is presented in the form of a general-purpose computing device. The components of the electronic device 40 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, and a bus 403 connecting different system components (including the system memory 402 and the processing unit 401).

[0111] The bus 403 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any bus structure in a variety of bus structures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

[0112] The electronic device 40 typically includes a variety of computer system-readable media. These media can be any available media that can be accessed by the electronic device 40, including volatile and non-volatile media, removable and non-removable media.

[0113] System memory 402 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 404 and / or cache memory 405. Electronic device 40 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 406 can be used for reading and writing non-removable, non-volatile magnetic media ( Figure 6 not shown, typically referred to as a "hard disk drive"). Although Figure 6 not shown in FIG., a disk drive for reading and writing removable non-volatile disks (such as a "floppy disk") and an optical disk drive for reading and writing removable non-volatile optical disks (such as CD-ROM, DVD-ROM or other optical media) may be provided. In these cases, each drive may be connected to bus 403 via one or more data media interfaces. Memory 402 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present invention.

[0114] A program / utility 408 having a set (at least one) of program modules 407 may be stored, for example, in memory 402. Such program modules 407 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each of these examples or some combination thereof may include an implementation of a network environment. Program modules 407 generally perform the functions and / or methods in the embodiments described in the present invention.

[0115] Electronic device 40 may also communicate with one or more external devices 409 (such as a keyboard, pointing device, display 410, etc.), and may also communicate with one or more devices that enable a user to interact with the electronic device 40, and / or communicate with any device that enables the electronic device 40 to communicate with one or more other computing devices (such as a network card, modem, etc.). Such communication may be through an input / output (I / O) interface 411. Also, electronic device 40 may communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via network adapter 412. As shown, network adapter 412 communicates with other modules of electronic device 40 via bus 403. It should be understood that although Figure 6 not shown in FIG., other hardware and / or software modules may be used in conjunction with electronic device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0116] The processing unit 401 executes various functional applications and data processing by running the programs stored in the system memory 402, such as implementing the method for simulating a driving section provided in the embodiments of the present invention.

[0117] Embodiment 5

[0118] Embodiment 5 of the present invention further provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute a method for simulating a driving section when executed by a computer processor. The method includes:

[0119] Obtain the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle.

[0120] Determine the target working condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information.

[0121] If the target working condition information is consistent with the preset working condition information, then determine the driving parameter information of the target vehicle in the driving section corresponding to the target working condition information according to the target working condition information and the vehicle attribute information.

[0122] Simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information.

[0123] The computer storage medium of the embodiments of the present invention can adopt any combination of one or more computer-readable media. The computer-readable media can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the computer-readable storage medium include: an electrical connection having one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0124] A computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0125] The program code contained on a computer-readable medium can be transmitted using any appropriate medium, including - but not limited to - wireless, wire, optical fiber, RF, etc., or any suitable combination of the above.

[0126] The computer program code for performing the operations of the embodiments of the present invention can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages - such as Java, Smalltalk, C++, and also include conventional procedural programming languages - such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network - including a local area network (LAN) or a wide area network (WAN) - or, alternatively, can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0127] Note that the above is only the preferred embodiment of the present invention and the applied technical principles. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for simulating a driving section, characterized in that Including: Obtaining the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle. Determining the target operating condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information. If the target operating condition information is consistent with the preset operating condition information, then determining the driving parameter information of the target vehicle in the driving section corresponding to the target operating condition information according to the target operating condition information and the vehicle attribute information. Simulating at least one simulation scenario corresponding to the driving section according to the driving parameter information. Wherein, the preset operating condition information is a congestion operating condition, and if the target operating condition information is consistent with the preset operating condition information, then determining the driving parameter information of the target vehicle in the driving section corresponding to the target operating condition information according to the target operating condition information and the vehicle attribute information includes: If the target operating condition information is a congestion operating condition, then segmenting the start-up segment of the driving section according to the target operating condition information and the target vehicle speed in the vehicle attribute information to obtain the start-stop information of each segment in the driving section, and using the start-stop information as the driving parameter information.

2. The method according to claim 1, wherein The obtaining the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs includes: Collecting the target vehicle speed of the target vehicle based on a speed sensor provided on the target vehicle. Determining the quantity information of other vehicles surrounding the target vehicle based on a lidar and a camera device provided on the target vehicle. Obtaining the target vehicle speed and the quantity information of the target vehicle in real time or at intervals.

3. The method according to claim 1, characterized in that, The determining the target operating condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information includes: If the target vehicle speed in the vehicle attribute information is lower than a preset vehicle speed threshold, then determining that the target operating condition information of the target vehicle is a congestion operating condition; and / or, If the quantity information of other vehicles surrounding the target vehicle in the driving environment information is greater than a preset quantity threshold, then determining that the target operating condition information of the target vehicle is a congestion operating condition.

4. The method according to claim 1, wherein The driving parameter information includes the distance, driving duration, waiting duration, start-stop times, speed, acceleration, and steering wheel angle of the start-stop segment of the target vehicle, and the distance, driving duration, waiting duration, start-stop times, speed, acceleration, and steering wheel angle of the start-stop segment of other vehicles associated with the target vehicle.

5. The method according to claim 1, wherein The simulating at least one simulation scenario corresponding to the driving section according to the driving parameter information includes: Arranging and combining the driving parameter information based on simulation software to obtain at least one simulation scenario corresponding to the driving section.

6. The method according to claim 1, characterized in that The obtaining the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs includes: When determining that the target vehicle is traveling on a preset road type based on GPS, obtain the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the preset road types include highway road types and rapid access road types.

7. An apparatus for simulating a driving section, characterized in that, It includes: An information acquisition module, configured to acquire the vehicle attribute information of the target vehicle and the driving environment information of the driving environment to which the target vehicle belongs; wherein, the driving environment information includes the quantity information of other vehicles in the driving environment, and the vehicle attribute information includes the target vehicle speed of the target vehicle. A working condition information determination module, configured to determine the target working condition information of the target vehicle according to the vehicle attribute information and / or the driving environment information. A parameter information determination module, configured to, if the target working condition information is consistent with the preset working condition information, determine the driving parameter information of the target vehicle in the driving section corresponding to the target working condition information according to the target working condition information and the vehicle attribute information. A simulation module, configured to simulate at least one simulation scenario corresponding to the driving section according to the driving parameter information. Wherein, the preset working condition information is a congestion working condition, and the parameter information determination module includes: A start-stop information acquisition unit, configured to, if the target working condition information is a congestion working condition, segment the driving section into start segments according to the target working condition information and the target vehicle speed in the vehicle attribute information, obtain the start-stop information of each segment in the driving section, and use the start-stop information as the driving parameter information.

8. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device, configured to store one or more programs, When the one or more programs are executed by the one or more processors, enable the one or more processors to implement the method for simulating a driving section as described in any one of claims 1-6.

9. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions are used to execute the method for simulating a driving section as described in any one of claims 1-6 when executed by a computer processor.

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