Simulation time correction method and apparatus, electronic device, and autonomous vehicle

Abstract

The disclosure provides a simulation time correction method and device, electronic equipment and an autonomous vehicle, relates to the field of artificial intelligence, and in particular to the field of autonomous driving and intelligent traffic technology. The specific implementation scheme is as follows: an acquisition initial time and a system initial time of a simulation system are obtained; a current system time in a running process of the simulation system and a system control instruction received by the simulation system are obtained; a deviation duration and a running duration are determined according to the system control instruction, the acquisition initial time and the system initial time; the running duration is corrected by using the deviation duration, and a current simulation time is determined according to the corrected running duration and the acquisition initial time. The embodiment of the disclosure can improve the simulation accuracy.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of artificial intelligence, in particular to the field of automatic driving and intelligent transportation, and more particularly to a simulation time correction method and device, an electronic device and an automatic driving vehicle. BACKGROUND

[0002] The driving system has very high requirements for the timeliness of various collected data, which is generally within tens of milliseconds or even milliseconds. The collection time of the collected data needs to be compared with the system real time. Data that exceeds the timeliness is considered invalid data and cannot be applied to driving control.

[0003] Currently, a simulation system can be used to simulate the real operation of the driving system. In order to truly restore the actual operation state in the driving process, the driving data saved in advance is loaded into the simulation system, and the time of the obtained driving data is determined as the simulation time. SUMMARY

[0004] The present disclosure provides a simulation time correction method and device, an electronic device and an automatic driving vehicle.

[0005] According to an aspect of the present disclosure, a simulation time correction method is provided, comprising:

[0006] obtaining a collection initial time and a system initial time of a simulation system;

[0007] obtaining a current system time in a running process of the simulation system and a system control instruction received by the simulation system;

[0008] determining a deviation duration and a running duration according to the system control instruction, the collection initial time and the system initial time;

[0009] correcting the running duration by using the deviation duration, and determining a current simulation time according to the corrected running duration and the collection initial time.

[0010] According to an aspect of the present disclosure, a simulation time correction device is provided, comprising:

[0011] an initial time obtaining module configured to obtain a collection initial time and a system initial time of a simulation system;

[0012] a control instruction obtaining module configured to obtain a current system time in a running process of the simulation system and a system control instruction received by the simulation system;

[0013] a deviation duration determining module configured to determine a deviation duration and a running duration according to the system control instruction, the collection initial time and the system initial time;

[0014] The simulation time correction module is configured to correct the running time by using the deviation time, and determine a current simulation time according to the corrected running time and the initial acquisition time.

[0015] According to another aspect of the present disclosure, an electronic device is provided, comprising:

[0016] at least one processor; and

[0017] a memory in communication with the at least one processor; wherein

[0018] The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the simulation time correction method according to any one of the embodiments of the present disclosure.

[0019] According to another aspect of the present disclosure, a non-transitory computer readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to perform the simulation time correction method according to any one of the embodiments of the present disclosure.

[0020] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the simulation time correction method according to any one of the embodiments of the present disclosure.

[0021] According to another aspect of the present disclosure, an autonomous vehicle is provided, comprising the electronic device according to any one of the embodiments of the present disclosure.

[0022] The embodiments of the present disclosure can improve the simulation accuracy.

[0023] It should be understood that the contents described in this part are not intended to identify the key or important features of the embodiments of the present disclosure, nor to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings are used to better understand the present scheme, and do not limit the present disclosure. Among them:

[0025] Figure 1 is a schematic diagram of a simulation time correction method according to an embodiment of the present disclosure;

[0026] Figure 2 is a schematic diagram of a simulation time correction method according to an embodiment of the present disclosure;

[0027] Figure 3 is a schematic diagram of a simulation time correction method according to an embodiment of the present disclosure;

[0028] Figure 4 is a scenario diagram of a simulation time correction method according to an embodiment of the present disclosure;

[0029] Figure 5 is a running scenario diagram of a simulation system executing an initialization instruction according to an embodiment of the present disclosure;

[0030] Figure 6 is a running scenario diagram of a simulation system executing a pause instruction according to an embodiment of the present disclosure;

[0031] Figure 7 is a running scenario diagram of a simulation system executing a resume instruction according to an embodiment of the present disclosure;

[0032] Figure 8 is a running scenario diagram of a simulation system executing a fast-forward instruction according to an embodiment of the present disclosure;

[0033] Figure 9 is a running scenario diagram of a simulation system executing a fast-backward instruction according to an embodiment of the present disclosure;

[0034] Figure 10 is a schematic diagram of a simulation time correction device according to an embodiment of the present disclosure;

[0035] Figure 11 is a block diagram of an electronic device for implementing the simulation time correction method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0036] Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure to help in understanding. These should be considered as merely exemplary. Therefore, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, for the sake of brevity and clarity, descriptions of well-known functions and constructions are omitted from the following description.

[0037] Figure 1 is a flowchart of a simulation time correction method according to an embodiment of the present disclosure. The embodiment can be applicable to the correction of various times recorded during the running of a simulation system. The embodiment method can be executed by a simulation time correction device, which can be implemented in software and / or hardware and specifically configured in an electronic device with certain data processing capabilities. The electronic device can be a client device or a server device, such as a mobile phone, a tablet computer, a vehicle terminal, and a desktop computer.

[0038] S101, acquiring a collection initial time and a system initial time of a simulation system.

[0039] The simulation system is actually a system simulating the running of a real software system in a real environment. The running process of the simulation system can be specifically loading the data collected in the real environment into the simulation system, running the simulation system, processing the loaded data, and obtaining a simulation result. The simulation result can verify the result of the collected data in the real software system in the real environment, thereby determining the running result of the real system corresponding to the simulation system, thereby detecting whether the real system has an abnormality, performing abnormality positioning, and optimizing the real system.

[0040] The collection initial time can refer to the actual collection time of the data loaded into the simulation system. In fact, the collection initial time is irrelevant to the simulation system, and the collection initial time is the collection time of the real data. The system initial time can refer to the time when the simulation system loads data and starts simulation running. The simulation system can read the collection initial time from the file of the loaded simulation data, and determine the current system time as the system initial time in the case of loading the simulation data.

[0041] S102, obtaining the current system time of the simulation system in the running process and the system control instruction received by the simulation system.

[0042] The current system time can refer to the system time corresponding to a time in the running process of the simulation system, and can specifically be the system time in the case of needing to record time in the running process of the simulation system. In the case of needing to record the data of the simulation running, the time needs to be recorded at the same time, the system time at this time is obtained, and the current system time is determined. In fact, the current system time is used to determine the current simulation time in combination with the collection initial time and the system initial time. Since the running process of the simulation system is to simulate the running process of the real system in the real environment, the data recorded by the simulation system should correspond to the data recorded by the real system, and the recorded time corresponding to the matched data should be consistent in the simulation system and the real system, that is, the current simulation time of the data recorded by the simulation system should be consistent with the current real time of the data recorded by the real system.

[0043] Generally, in the ideal case that the simulation system has no time deviation, the current simulation time is obtained by adding the time length between the current system time and the system initial time to the collection initial time. For example, the real data is collected on the first day, the first day is determined as the collection initial time, the real data collected on the second day is loaded into the simulation system as simulation data for running, the second day is determined as the system initial time, the data is recorded on the third day, and the time is recorded, and the current system time is the third day. The time length between the current system time and the system initial time is one day. The collection initial time is added by one day, and the time obtained is the second day, so that the current simulation time is determined as the second day. Since the simulation system has time deviation, the time deviation needs to be excluded from the time length between the current system time and the system initial time to obtain the accurate current simulation time.

[0044] The system control instruction can be that the simulation system receives the control instruction for controlling the simulation system. For example, the system control instruction can include at least one of the following: initialization instruction, pause instruction, resume instruction, fast forward instruction, and fast backward instruction, etc. The system control instruction can be that the simulation system receives the system control instruction in the time period between the system initial time and the current system time.

[0045] S103, determining the deviation time length and the running time length according to the system control instruction, the collection initial time and the system initial time.

[0046] The deviation time length is used to determine the error between a series of times in the running process of the simulation system and a series of times in the running process of the real system. The running time length is used to determine the time length of simulating the running of the real system by the simulation system.

[0047] For the deviation time length, generally, the running process of the simulation system is different from the running process of the real system in that the simulation system can adjust the running process according to the system control instruction input by the user. However, this adjustment process does not actually exist for the real system. Therefore, the time length of executing the system control instruction by the simulation system is an error for the running time length of the real system. Therefore, the deviation time length can be determined according to the system control instruction.

[0048] In addition, the real system starts to run at the collection initial time, and the simulation system starts to run at the system initial time after the collection initial time, so there is an error in the starting time between the running process of the simulation system and the real running process of the real system. Therefore, the deviation time length can be determined according to the collection initial time and the system initial time.

[0049] The partial deviation time lengths can be respectively determined according to the two aforementioned, and the total deviation time length is determined by adding.

[0050] For the running time, the simulation system can execute the system control instruction to determine the time length of the simulation system outside the execution of the system control instruction as the running time.

[0051] In S104, the running time is corrected by using the deviation time length, and the current simulation time is determined according to the corrected running time and the collection initial time.

[0052] The current simulation time is used to detect whether the simulation result is consistent with the running result of the real system. The current simulation time can refer to the time when the simulation system reaches the same running state of the real system in the process of simulating the running of the real system. For example, the simulation system runs from the system initial time A to the current system time B to obtain a result, the real system runs from the collection initial time C to the current simulation time D to obtain a result, and the simulation system actually simulates the process of obtaining the result a from the collection initial time C to the current simulation time D. Therefore, the current simulation time is the time D when the real system obtains the result a corresponding to the current system time B when the simulation system obtains the result a. In fact, the real time when the real system obtains the result a based on the same data at the collection initial time can be recorded in advance as the true value time, and compared with the current simulation time, it can be determined whether the simulation system can accurately simulate the running of the real system.

[0053] The deviation time length is an error, which needs to be excluded from the running time to obtain the corrected running time. The corrected running time is accumulated at the collection initial time to obtain the current simulation time.

[0054] In a specific example, the simulation system needs to record multiple times to realize the data time continuity in the simulation process. The simulation system can call the interface for recording time, and determine the time of calling the interface as the current system time, and correspondingly calculate the corrected current simulation time as the accurate simulation time for recording. The simulation system can call the interface multiple times to record multiple data times in the simulation process, thereby increasing the continuity of the simulation time.

[0055] According to the technical scheme of the present disclosure, by obtaining the collection initial time and the system initial time of the simulation system, and obtaining the current system time in the running process and the system control instruction received by the simulation system in the running process, the deviation time length and the running time are determined, the running time is corrected based on the deviation time length, and the current simulation time is obtained based on the collection initial time. The real time when the real system reaches the same state can be simulated to correct the simulation time, improve the detection accuracy of the simulation time, and improve the accuracy of the simulation result.

[0056] Figure 2is a flowchart of another simulation time correction method according to an embodiment of the present disclosure, which is further optimized and expanded based on the above technical solution and can be combined with the above various optional embodiments. The determination of the deviation duration based on the system control instruction, the acquisition initial time and the system initial time is specifically: obtaining an instruction execution duration corresponding to the system control instruction; determining an initial simulation deviation duration based on the acquisition initial time and the system initial time; and determining the deviation duration based on the instruction execution duration and the initial simulation deviation duration.

[0057] S201, obtaining an acquisition initial time and a system initial time of a simulation system.

[0058] S202, obtaining a current system time in a running process of the simulation system and a system control instruction received by the simulation system.

[0059] S203, obtaining an instruction execution duration corresponding to the system control instruction.

[0060] The instruction execution duration is used to determine the duration of the execution of the system control instruction by the simulation system, and specifically can be the duration between the time when the instruction is executed and the time after the instruction is executed. The execution duration of different types of system control instructions can be different.

[0061] Exemplarily, the system control instruction includes at least one of the following: initialization instruction, pause instruction, resume instruction, fast forward instruction and fast backward instruction, etc. The initialization instruction is used for the simulation system to initialize; the pause instruction is used for the simulation system to pause running; the resume instruction is used for the simulation system to resume running from the paused state; the fast forward instruction is used for the simulation system to skip a period of time; and the fast backward instruction is used for the simulation system to return to a period of time. The resume instruction is usually executed in cooperation with the pause instruction, and the resume instruction is usually executed after the pause instruction. The instruction execution duration of the initialization instruction is the system time corresponding to the initialization and the system time corresponding to the initialization; the instruction execution duration of the pause instruction is the system time corresponding to the pause and the system time corresponding to the pause; the instruction execution duration of the resume instruction is the system time corresponding to the resume and the system time corresponding to the resume; the instruction execution duration of the fast forward instruction is the system time corresponding to the fast forward and the system time corresponding to the fast forward; and the instruction execution duration of the fast backward instruction is the system time corresponding to the fast backward and the system time corresponding to the fast backward.

[0062] S204, determining an initial simulation deviation duration based on the acquisition initial time and the system initial time.

[0063] The initial simulation deviation duration refers to a duration between the collection initial time and the system initial time. In fact, the simulation system simulates the system running from the collection initial time, while the simulation system actually runs from the system initial time. Therefore, there is an error in the starting time between the running process simulated by the simulation system and the actual running process of the simulation system, i.e., the initial simulation deviation duration.

[0064] S205, determining a deviation duration according to the instruction execution duration and the initial simulation deviation duration.

[0065] The instruction execution duration and the initial simulation deviation duration are accumulated to obtain the deviation duration. There can be multiple system control instructions, and the instruction execution durations of the multiple system control instructions and the initial simulation deviation duration are accumulated to obtain the deviation duration.

[0066] S206, determining a running duration according to the system control instruction, the collection initial time and the system initial time.

[0067] S207, correcting the running duration by using the deviation duration, and determining a current simulation time according to the corrected running duration and the collection initial time.

[0068] Optionally, the simulation time correction method further includes: determining an instruction adjustment duration according to a type of the system control instruction; and updating the current simulation time according to the instruction adjustment duration.

[0069] In fact, the fast-forward instruction or the fast-backward instruction is used to control the simulation system to skip or return to a certain time period. The actual running process simulated by the simulation system does not have such skipping or returning in time. Therefore, the time period of skipping or returning can be excluded from the running process of the simulation system. The instruction adjustment duration is used to determine the duration of mutation in the running process of the simulation system. The instruction adjustment duration can be the duration of skipping or returning in the running process of the simulation system. The instruction adjustment duration can be determined according to a preset adjustment duration corresponding to the system control instruction. The positive or negative sign of the instruction adjustment duration can be determined according to the type of the system control instruction.

[0070] Updating the current simulation time according to the instruction adjustment duration can mean that the instruction adjustment duration is accumulated at the current simulation time.

[0071] For example, the instruction adjustment duration corresponding to the fast-forward instruction is 1 minute, and the instruction adjustment duration corresponding to the fast-backward instruction is -1 minute. The current simulation time is 12:00, the current simulation time after fast-forwarding is 12:01, and the current simulation time after fast-backwarding is 11:59.

[0072] By adjusting the simulation system in the running process according to the partial system control instruction, the instruction adjustment duration in the corresponding time is determined, and the current simulation time is adjusted, the simulation time can be determined for the system control instruction of time adjustment, and the detection accuracy of the simulation time in the time adjustment scene can be improved.

[0073] Optionally, the simulation time correction method further comprises: obtaining a current real time corresponding to the current simulation time, and determining a detection duration between the corresponding current real time and the current simulation time; determining an abnormal detection result of the collected data loaded by the simulation system according to the detection duration.

[0074] The current real time is used to detect the simulation time error of the simulation system. The current real time can refer to the time when the real system is in the same state as the simulation system at the current simulation time. For example, the simulation system calculates the overspeed detection result according to the loaded data, and determines the time when the detection result is obtained as the current simulation time. The real system also calculates the overspeed detection result according to the aforementioned loaded data, and determines the time when the detection result is obtained as the current real time. The current real time is usually recorded in the simulation system data file, which includes the data collected by the real system, the initial time of collection and multiple current real times. When the real system obtains a state or a result according to the collected data, the corresponding time is recorded as the current real time.

[0075] The detection duration is used to determine the difference between the simulation time and the real time, and the detection duration can refer to the duration between the current real time and the current simulation time. The abnormal detection result is used to determine whether the running process of the simulation system according to the loaded collected data is inconsistent with the running process of the real system according to the loaded collected data, that is, the simulation system cannot accurately simulate the running state of the real system according to the loaded collected data. At this time, the simulation system is abnormal, or the data collected by the real system in the real scene is abnormal, which can prompt the user. In the case of detecting that the simulation system is abnormal, the simulation system is optimized, in the case of detecting that the data is abnormal, the reason for the data abnormality is located, in the case of detecting that the real system is abnormal in the running process, the running process of the real system is optimized to collect correct data to accurately simulate the running of the real system. Wherein, according to the detection duration and the preset abnormal threshold, it is determined whether there is an abnormal detection result. For example, the detection duration is greater than or equal to the preset abnormal threshold, and it is determined that the abnormal detection result is abnormal, and the detection duration is less than the preset abnormal threshold, and it is determined that the abnormal detection result is not abnormal.

[0076] The abnormality detection result is determined by acquiring the current real time corresponding to the current simulation time, and comparing the detection time length between the current real time corresponding to the current simulation time, so as to determine whether the simulation system is abnormal, improve the fault tolerance of the simulation system, and timely optimize the simulation system, and improve the simulation accuracy of the simulation system.

[0077] Optionally, the simulation time correction method further comprises: the simulation system is configured to simulate a real environment of vehicle driving, and the collected data loaded by the simulation system is vehicle collected data in a vehicle driving process.

[0078] The simulation system is configured to simulate the running process of the vehicle system in the real driving scene of the vehicle. The vehicle collected data is used to be loaded into the simulation system for processing, so that the simulation system simulates the process of processing the vehicle collected data in real time in the real driving scene of the vehicle. However, the vehicle collected data applied in the vehicle system needs to be collected by the real vehicle system in the real driving scene of the vehicle. The simulation system cannot directly obtain the vehicle collected data, and needs to be collected in the real driving scene and loaded into the simulation system, so that the simulation system simulates the real environment of vehicle driving. The vehicle collected data can include at least one of the following: detection data of on-board equipment, external environment detection data around the vehicle, and detection data of the in-vehicle environment, etc. For example, the detection data of the on-board equipment can include at least one of the following: detection data of wheels, doors, locks, seat belts, seat pressure, buttons, screens, etc. The external environment detection data around the vehicle can include at least one of the following: image, video, positioning, communication, radar, etc. The detection data of the in-vehicle environment can include at least one of the following: image, video, and voice, etc.

[0079] The vehicle system can be an auxiliary driving system, and can also be an automatic driving system. The simulation system can simulate the running process of the automatic driving system in the vehicle driving scene.

[0080] By configuring the simulation system to simulate the real environment of vehicle driving, the operation delay of the simulation system can be reduced, the consistency of the simulation time and the real time can be improved, the error between the simulation time and the real time can be avoided to be too large to exceed the failure time, the data time limit can be avoided to be used to cause simulation data processing error, and the simulation result can be inaccurate. The system can accurately simulate the actual running state of the driving process, improve the accuracy of the simulation time, and improve the accuracy of the simulation result.

[0081] According to the technical solution of the present disclosure, the deviation duration is determined by calculating the instruction execution duration and the initial simulation deviation duration, the deviation duration can be determined according to the difference between the real running time and the simulation running time of the simulation system, and the difference between the real running process and the simulation running process of the simulation system, the detection accuracy of the deviation duration is improved, and the correction accuracy of the simulation time is improved.

[0082] Figure 3 The flowchart of another simulation time correction method disclosed according to an embodiment of the present disclosure is based on the further optimization and expansion of the above technical solution, and can be combined with the above various optional embodiments. The determination of the running duration according to the system control instructions, the acquisition initial time and the system initial time is specifically: determining the running duration according to the type of each system control instruction and the time period between each system control instruction.

[0083] S301, acquiring the acquisition initial time and the system initial time of the simulation system.

[0084] S302, acquiring the current system time in the running process of the simulation system and the system control instruction received by the simulation system.

[0085] S303, determining the deviation duration according to the system control instruction, the acquisition initial time and the system initial time.

[0086] S304, determining the running duration according to the type of each system control instruction and the time period between each system control instruction.

[0087] The running process of the simulation system simulates the running process of the real system, and the system control instruction executed by the simulation system does not actually exist in the running process of the real system. The running duration can refer to the duration of the simulation system simulating the running process of the real system.

[0088] The time period between system control instructions can refer to a time period between execution time periods of two system control instructions, i.e. a time period in which no system control instruction is executed between two adjacent executed system control instructions. The sum of the lengths of the time periods between adjacent executed system control instructions can be determined as the running time. However, not all time periods between two adjacent system control instructions can be used to calculate the running time. For example, for a pause instruction and a resume instruction, the simulation system pauses running after executing the pause instruction and resumes running after executing the resume instruction. Therefore, the time period between the pause instruction and the resume instruction does not belong to the running time period of the simulation system and is not used to calculate the running time. Therefore, according to the types of system control instructions, the time period between adjacent executed system control instructions is filtered to obtain time periods used to calculate the running time, and the lengths of the filtered time periods are accumulated to determine the running time.

[0089] Optionally, the running time is determined according to the types of the system control instructions and the time periods between the system control instructions, including: determining at least one running time period in a time period between the current system time and the initial system time according to the types of the system control instructions and the time periods between the system control instructions; obtaining a running speed and calculating the running time according to the lengths of the running time periods.

[0090] The running time period is used to determine the running time, and the running time period can refer to a time period in which the simulation system is in a running state, i.e. a time period in which the simulation system simulates the running of the real system. The time period between the time when the execution of a previous system control instruction is completed and the time when the execution of a next system control instruction is started can be determined as the time period between system control instructions. The system control instructions executed outside the time period between the initial system time and the current system time do not belong to the instructions executed by the simulation system in the time period between the initial system time and the current system time. Moreover, the time periods between the system control instructions executed outside the time period between the initial system time and the current system time are not used to calculate the running time of the simulation system in the time period between the initial system time and the current system time. The time periods located in the time period between the initial system time and the current system time can be filtered from the time periods between the system control instructions.

[0091] In addition, the time period between part of the system control instructions is different from the time period of the simulation system running. For example, the time period between the pause instruction and the resume instruction is not the time period of the simulation system running, so the time period between the pause instruction and the resume instruction is not used to calculate the running time length. Therefore, in the time period between the time period between the system initial time and the current system time, the time period in which the simulation system is in the running state is filtered according to the type of the system control instruction, and the running time period is determined.

[0092] The running speed can refer to the running speed of the simulation system. For example, the running speed of the simulation system can be adjusted, for example, can be accelerated or slowed down, relative to the simulated real system. For example, the real system needs N minutes to complete the overspeed detection operation, and the simulation system can accelerate the running speed to complete the overspeed detection operation within N minutes (for example, N / 2 minutes), or can slow down the running speed to complete the overspeed detection operation outside N minutes (for example, 1.5N minutes).

[0093] The time lengths of each running time period are accumulated to calculate the standard running time length. The simulation system can run at double speed, and the running time length is the product of the standard running time length and the running speed. For example, the running speed is v, and the running time length is the product of v and the standard running time length.

[0094] By obtaining the time period between the system control instructions, and filtering the running time period according to the time period between the current system time and the system initial time and the type of the system control instruction, the running time period is determined, the time period in which the simulation system is in the running state can be accurately detected, the time length of the non-running state is reduced. The interference of the simulation time, and according to the running speed of the simulation system and the running time period, the running time length is determined, the control of the simulation system in speed is realized, and different simulation time is calculated according to different speed, and accurate simulation time is realized under different running speed, the speed calculation application scene of simulation time is increased, and the application of simulation time is enriched, in order to adapt to the simulation time detection of simulation systems with different functions, and improve the determination accuracy of simulation time.

[0095] S305, the deviation time length is used to correct the running time length, and the current simulation time is determined according to the corrected running time length and the acquisition initial time.

[0096] According to the technical scheme of the present disclosure, by obtaining the type of the system control instruction and the time period between the system control instructions, the time period in which the simulation system is actually running except for the execution of the control instruction is determined, so as to determine the running time, which can improve the exclusion of the execution time of the control instruction, reduce the difference between the simulation time and the simulated real time, and improve the accuracy of the simulation time.

[0097] Figure 4 is a scenario diagram of another simulation time correction method according to an embodiment of the disclosure. The simulation time correction method can include:

[0098] S401, first, a simulation time correction instance is created, and then a simulation time parameter is set.

[0099] The simulation time parameter can include at least one of the following: a timestamp type (corresponding timestamp including microseconds or nanoseconds, etc.), a collection initial time, a system initial time, and a running speed, etc. The collection initial time can refer to the initial time of the data loaded into the simulation system (i.e., the timestamp of the first data). The system initial time can be the system time corresponding to the initialization of the simulation system. The running speed can also be referred to as a simulation rate, etc.

[0100] S402, the simulation system executes an initialization instruction.

[0101] After the simulation system is initialized, the simulation system simulates the real environment to run. During the simulation, pause, resume, fast forward, or fast backward interfaces, etc. can be called, and corresponding pause instructions, resume instructions, fast forward instructions, or fast backward instructions are executed to control the simulation time.

[0102] S403, the simulation system executes a pause instruction.

[0103] S404, the simulation system executes a resume instruction.

[0104] S405, the simulation system executes a fast forward instruction.

[0105] S406, the simulation system executes a fast backward instruction.

[0106] S407, the simulation system determines a current simulation time.

[0107] The simulation system can call a set time interface to set the simulation timestamp to the simulation time module of the simulation system for recording time, and the simulation system can call a get time interface to obtain the simulation time, i.e., to obtain at least one simulation time.

[0108] S408, the simulation system obtains a current real time and compares it with the current simulation time.

[0109] The simulation control includes two aspects: (1) the simulation system supports simulation at different simulation rates as needed. (2) During the simulation process, it is necessary to check and verify various information of the simulation data at any time, so the simulation system needs to be controlled. The control operation mainly includes pause, resume, fast forward, fast backward, etc.

[0110] Correspondingly, considering the aforementioned simulation control, the deviation time mainly manifests in the following aspects: (1) the simulation data loaded by the simulation system is read from a file, the file saves data saving time and data information, and these data are recorded in a real scene, so the timeliness of the data time needs to be considered when recording, and after the data is acquired, the deviation between the data acquisition time and the real time is compared, and the deviation greater than a certain threshold indicates that the data is invalid. After the simulation system loads the simulation data file, it needs to truly reproduce the previous real running state, and also needs to consider the data saving time, that is, the acquisition initial time and the system time, that is, the deviation of the system initial time when the simulation system starts simulation. However, the system time during simulation (system initial time) is different from the system time during data recording (acquisition initial time), and this deviation needs to be considered. (2) The simulation system supports simulation at different rates, and different rates have an impact on the deviation between simulation time and real time, which needs to be considered. (3) When the simulation device executes instructions such as pause, resume, fast forward or fast backward, the execution of these instructions itself needs time, which will affect the deviation between simulation time and real time, and this deviation needs to be considered. (4) When fast forward or fast backward instructions are performed, the time length of fast forward or fast backward needs to be considered.

[0111] For different system control instructions executed by the simulation system, the calculation method of the deviation time is different. The following describes the initialization running state, the pause state, the resume state, the fast forward state and the fast backward state of the simulation system respectively:

[0112] For convenience of calculation and description, the following definitions are made:

[0113] t: the simulation time obtained when the simulation time acquisition interface is called, that is, the current simulation time;

[0114] T: the system time corresponding to the simulation time acquisition interface when the simulation time acquisition interface is called, that is, the current system time;

[0115] t0: represents the initial time of the simulation data, that is, the first timestamp of the simulation data, that is, the acquisition initial time;

[0116] T0: represents the system time corresponding to the initialization, that is, the system initial time;

[0117] T1: represents the system time corresponding to the initialization;

[0118] T2: represents the system time corresponding to the pause;

[0119] T3: represents the system time corresponding to the pause;

[0120] T4: represents the system time corresponding to the resume;

[0121] T5: Indicates the system time after recovery;

[0122] T6: Indicates the system time corresponding to fast forward;

[0123] T7: Indicates the system time corresponding to the fast forward sequence;

[0124] T8: Indicates the system time at the time of fast rewind;

[0125] T9: Indicates the system time corresponding to the rewind sequence;

[0126] dt: represents the time to fast forward or rewind;

[0127] Δ: Deviation caused by the operation command, i.e., the duration of the deviation.

[0128] a. The simulation system is in the initialized state.

[0129] After loading the simulation data file, the simulation system initializes and then enters the simulation running state (e.g., Figure 5 As shown), at this time, the simulation system has not executed any of the commands such as pause, resume, fast forward, and rewind. The deviation duration at this time mainly includes three aspects: first, the initial time of simulation data, that is, the initial acquisition time (corresponding to...). Figure 5 The system time (t0) and the system time when the initialization interface is called, i.e., the system initial time (corresponding to t0) Figure 5 The deviation between T0 and T0. Secondly, the execution time of the initialization process, that is, the execution duration of the initialization instructions, which is the time after initialization (corresponding to...). Figure 5 Subtract the time called during initialization from T1 in the equation, which is the system's initial time (corresponding to T1). Figure 5 The T0 value needs to be excluded because the simulation system is not running during initialization. Thirdly, the time the simulation system runs at speed `speed` when the `get time` interface is called is the system time at the time the `get simulation time` interface is called, i.e., the current system time (corresponding to...). Figure 5 The time in T is subtracted from the initialized system time (corresponding to T). Figure 5 In the context of simulation time t, T1 represents the time interval between T and T1, where the running time under state a is the time interval between T and T1, the initial simulation deviation duration is T0-t0, and the instruction execution duration is the execution duration of the initialization instruction, i.e., T1-T0. The formulas for calculating the total deviation duration Δ and the current simulation time t are as follows:

[0130] Δ=(T0-t0)+(T1-T0)=T1-t0

[0131] t=t0+(T-T1)*speed=t0+(T-Δ-t0)*speed

[0132] b. The simulation system is in the pause state

[0133] If the simulation system executes the pause instruction in the normal running state (i.e., state a), it enters the pause state (as shown in Figure 6 ). Since the simulation system has been paused before the execution of the pause instruction, the deviation duration does not need to consider the instruction execution duration of the pause instruction (which needs to be considered in other states), wherein the running time period in state b is the time period between T2 and T1, the initial simulation deviation duration is T0-t0, and the instruction execution duration is the execution duration of the initialization instruction, i.e., T1-T0. The calculation formula of the entire deviation duration Δ and the current simulation time t in this state is as follows:

[0134] Δ=(T0-t0)+(T1-T0)=T1-t0

[0135] t=t0+(T2-T1)*speed=t0+(T2-Δ-t0)*speed

[0136] c. The simulation system is in the resume state

[0137] The simulation system can execute the resume instruction only after the execution of the pause instruction, and at this time, it enters the resume state (as shown in Figure 7 ). The deviation duration in this state needs to consider the instruction execution duration of the previous pause instruction (i.e., the system time T3 after the pause execution minus the system time T2 before the pause execution), wherein the duration of the time period between the pause instruction and the resume instruction needs to be excluded, wherein the running time period in state c is the time period between T2 and T1 and the time period between T5 and T, the initial simulation deviation duration is T0-t0, the instruction execution duration is the execution duration of the initialization instruction, i.e., T1-T0, the execution duration of the pause instruction, i.e., T3-T2, and the execution duration of the resume instruction, i.e., T5-T4. The calculation formula of the entire deviation duration Δ and the current simulation time t in this state is as follows:

[0138] Δ=(T0-t0)+(T1-T0)+(T3-T2)+(T5-T4)

[0139] =(T1-t0)+(T3-T2)+(T5-T4)

[0140] t=t0+(T2-T1)*speed+(T-T5)*speed

[0141] =t0+(T+T2-T1-T5)*speed

[0142] =t0+(T-Δ-(T4-T3)-t0)*speed

[0143] d. The simulation system is in the fast-forward state

[0144] If the fast-forward instruction is executed during the running of the simulation system, the simulation system enters the fast-forward state (as shown in FIG. 6). That is, after the current timestamp is jumped back by time dt, the normal simulation is continued, and the running state after the fast-forward is the same as state a. The deviation time in state d needs to consider: one is the influence of the fast-forward instruction, and the other is the influence of the time length of the fast-forward. The running time period in state d is the time period between T6 and T1 and the time period between T7 and T, the initial simulation deviation time length is T0-t0, the instruction execution time length is the execution time length of the initialization instruction, that is, T1-T0, and the execution time length of the fast-forward instruction, that is, T7-T6. In addition, the instruction adjustment time length of the fast-forward instruction is dt. The calculation formula of the entire deviation time length Δ and the current simulation time t in this state is as follows: Figure 8

[0145] Δ=(T0-t0)+(T1-T0)+(T7-T6)

[0146] =T1-t0+T7-T6

[0147] t=t0+(T6-T1)*speed+(T-T7)*speed+dt

[0148] =t0+(T+T6-T1-T7)*speed+dt

[0149] =t0+(T-Δ-t0)*speed+dt

[0150] e. The simulation system is in the fast-back state

[0151] If the fast-back instruction is executed during the running of the simulation system, the simulation system enters the fast-back state (as shown in FIG. 7). That is, after the current timestamp is jumped forward by time dt, the normal simulation is continued, and the running state after the fast-back is the same as state a. The deviation time in state e needs to consider: one is the influence of the fast-back instruction, and the other is the influence of the time length of the fast-back. The running time period in state e is the time period between T8 and T1 and the time period between T9 and T, the initial simulation deviation time length is T0-t0, the instruction execution time length is the execution time length of the initialization instruction, that is, T1-T0, and the execution time length of the fast-back instruction, that is, T9-T8. In addition, the instruction adjustment time length of the fast-back instruction is -dt. The calculation formula of the entire deviation time length Δ and the current simulation time t in this state is as follows: Figure 9 Δ=(T0-t0)+(T1-T0)+(T9-T8)=T1-t0+T9-T8

[0152] t=t0+(T8-T1)*speed+(T-T9)*speed-dt

[0153]

[0154] ​​= t0 + (T + T8 - T1 - T9) * speed - dt

[0155] = t0 + (T - Δ - t0) * speed - dt

[0156] According to the current simulation time and the current real time, the difference between the running state of the simulation system and the running state of the real system is determined to be small, so it can be considered that the simulation system can accurately simulate the running state of the real system in the real scene, so that the continuous data events recorded in the simulation process can be provided for obtaining continuous simulation time. Effective data support. And, the difference between the running state of the simulation system and the running state of the real system in the real scene can be reduced, the accurate simulation of the simulation system can be realized, and through experiments, the control accuracy of high simulation time is determined to be within 100us.

[0157] According to an embodiment of the present disclosure, Figure 10 is a structure diagram of a simulation time correction device in the embodiment of the present disclosure, and the embodiment of the present disclosure is applicable to the case of correcting each time recorded in the running process of the simulation system. The device is realized by software and / or hardware, and is specifically configured in an electronic device with certain data operation capability.

[0158] As Figure 10 shown in a simulation time correction device 1000, comprising: an initial time acquisition module 1001, a control instruction acquisition module 1002, a deviation time length determination module 1003 and a simulation time correction module 1004; wherein,

[0159] The initial time acquisition module 1001 is used to acquire the acquisition initial time and the system initial time of the simulation system;

[0160] The control instruction acquisition module 1002 is used to acquire the current system time of the simulation system in the running process and the system control instruction received by the simulation system;

[0161] The deviation time length determination module 1003 is used to determine the deviation time length and the running time length according to the system control instruction, the acquisition initial time and the system initial time;

[0162] The simulation time correction module 1004 is used to correct the running time length by using the deviation time length, and determine the current simulation time according to the corrected running time length and the acquisition initial time.

[0163] According to the technical scheme of the present disclosure, by acquiring the collection initial time and the system initial time of the simulation system, and acquiring the current system time in operation and the system control instructions received by the simulation system in the operation process, and determining the deviation time length and the operation time length, the operation time length is corrected based on the deviation time length, and the current simulation time is acquired based on the collection initial time, the real time of the real system reaching the same state can be simulated, the simulation time is corrected, the detection accuracy of the simulation time is improved, and the accuracy of the simulation result is improved.

[0164] Further, the deviation time length determination module 1003 comprises: an instruction execution time length determination unit configured to acquire an instruction execution time length corresponding to the system control instruction; an initial deviation time length determination unit configured to determine an initial simulation deviation time length according to the collection initial time and the system initial time; and a deviation time length calculation unit configured to determine the deviation time length according to the instruction execution time length and the initial simulation deviation time length.

[0165] Further, the deviation time length determination module comprises: an instruction interval time determination unit configured to determine the operation time length according to the type of each system control instruction and the time period between each system control instruction.

[0166] Further, the instruction interval time determination unit comprises: an operation time period determination subunit configured to determine at least one operation time period in a time period between the current system time and the system initial time according to the type of each system control instruction and the time period between each system control instruction; and a speed-up time calculation subunit configured to acquire an operation speed and calculate the operation time length according to the time length of each operation time period.

[0167] Further, the simulation time correction device further comprises an instruction adjustment time length determination module configured to determine an instruction adjustment time length according to the type of the system control instruction; and a simulation time updating module configured to update the current simulation time according to the instruction adjustment time length.

[0168] Further, the simulation time correction device further comprises: a simulation accuracy detection module configured to acquire a current real time corresponding to the current simulation time, and determine a detection time length between the corresponding current real time and the current simulation time; and a simulation anomaly detection module configured to determine an anomaly detection result of the collection data loaded by the simulation system according to the detection time length.

[0169] Further, the simulation system is used to simulate a real environment of vehicle driving, and the collection data loaded by the simulation system is vehicle collection data in the vehicle driving process.

[0170] The simulation time correction device can execute the simulation time correction method provided by any embodiment of the present disclosure, and has corresponding functional modules and beneficial effects.

[0171] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information comply with relevant laws and regulations and do not violate public order and good customs.

[0172] According to the embodiments of the present disclosure, the present disclosure further provides an electronic device, a readable storage medium, a computer program product and an autonomous vehicle. The electronic device can be configured in the autonomous vehicle.

[0173] Optionally, in addition to the electronic device, the autonomous vehicle can also include a communication component, a display screen for implementing a human-machine interface, and an information acquisition device for acquiring surrounding environment information, and the communication component, the display screen and the information acquisition device are in communication connection with the electronic device. The electronic device can be integrally integrated with the communication component, the display screen and the information acquisition device, or can be separately arranged from the communication component, the display screen and the information acquisition device.

[0174] The electronic device can acquire data such as images and videos from the information acquisition device (such as a vehicle-mounted camera), so as to perform image / video processing and data calculation. Optionally, the electronic device itself can also have information acquisition function and communication function, for example, an artificial intelligence (AI) camera, and the electronic device can directly perform image / video processing and data calculation based on the acquired continuous image acquisition data.

[0175] The autonomous vehicle is the source of the acquisition data loaded by the simulation system, and can acquire information of each component on the vehicle based on the electronic device, as the acquisition data loaded by the simulation system, so as to make the simulation system simulate the processing of the acquisition data during the running of the autonomous vehicle in the real environment, and obtain a simulation result.

[0176] By configuring the electronic device provided by any embodiment of the present disclosure in the autonomous vehicle, the autonomous vehicle can realize the simulation function, simulate the real running process during the non-running process of the autonomous vehicle, and test the performance of the autonomous vehicle, and quickly locate the abnormality of the autonomous vehicle.

[0177] Figure 11A schematic block diagram of an example electronic device 1100 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present disclosure described and / or claimed in this document.

[0178] As shown in Figure 11 The device 1100 includes a computing unit 1101 that can perform various appropriate actions and processes in accordance with a computer program stored in a read-only memory (ROM) 1102 or a computer program loaded from a storage unit 1108 into a random access memory (RAM) 1103. Various programs and data required for the operation of the device 1100 can also be stored in the RAM 1103. The computing unit 1101, the ROM 1102, and the RAM 1103 are connected to each other through a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0179] Various components in the device 1100 are connected to the I / O interface 1105, including an input unit 1106, such as a keyboard, a mouse, etc.; an output unit 1107, such as various types of displays, speakers, etc.; the storage unit 1108, such as a magnetic disk, a magneto-optical disk, etc.; and a communication unit 1109, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1109 allows the device 1100 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0180] The computing unit 1101 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 1101 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The computing unit 1101 performs various methods and processes described above, such as the simulation time correction method. For example, in some embodiments, the simulation time correction method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 1108. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 1100 via the ROM 1102 and / or the communication unit 1109. When the computer program is loaded onto the RAM 1103 and executed by the computing unit 1101, one or more steps of the simulation time correction method described above can be performed. Alternatively, in other embodiments, the computing unit 1101 can be configured to perform the simulation time correction method by any other appropriate means, such as by means of firmware.

[0181] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0182] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces a means for implementing the functions / acts specified in the flowchart and / or a block diagram block or blocks. The program code can be retrieved from a machine-readable medium, a storage medium, a memory medium, a tangible medium, a non-transitory medium, or a combination thereof. The program code can be executed by a machine, such as a computer, a processor, a controller, a processor of a mobile device, a processor of a personal computer, a processor of a server, a processor of a database manager, a processor of a network device, a processor of a handheld device, or a processor of any other programmable data processing apparatus.

[0183] In the context of this disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium would include an electrical connection based on 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0184] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0185] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0186] The computer system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server can arise by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0187] It should be understood that the various forms of flow shown above can be used to reorder, add, or remove steps. For example, the steps described in the present disclosure can be performed in parallel, in series, or in a different order, as long as the desired results of the technology disclosed in the present disclosure are achieved, which is not limited herein.

[0188] The specific implementation described above does not constitute a limitation on the protection scope of the present disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A simulation time correction method, comprising: obtaining a collection initial time and a system initial time of a simulation system; the simulation system is configured to simulate a running process of a vehicle system in a real driving scenario of a vehicle; obtaining a current system time of the simulation system in the running process and a system control instruction received by the simulation system; determining a deviation time length and a running time length according to the system control instruction, the collection initial time and the system initial time; the simulation system is configured to adjust the running process by the system control instruction, and the adjustment does not exist in a real system; the deviation time length is configured to determine an error between a series of times in the running process of the simulation system and a series of times in the running process of the real system; correcting the running time length by the deviation time length, and determining a current simulation time according to the corrected running time length and the collection initial time; the determining of the deviation time length according to the system control instruction, the collection initial time and the system initial time comprises: obtaining an instruction execution time length corresponding to the system control instruction; determining an initial simulation deviation time length according to the collection initial time and the system initial time; determining the deviation time length according to the instruction execution time length and the initial simulation deviation time length; the determining of the running time length according to the system control instruction, the collection initial time and the system initial time comprises: determining the running time length according to a type of each of the system control instructions and a time period between each of the system control instructions. the determining of the running time length according to the type of each of the system control instructions and the time period between each of the system control instructions comprises:

2. The method of claim 1, wherein, determining at least one running time period in a time period between the current system time and the system initial time according to the type of each of the system control instructions and the time period between each of the system control instructions; obtaining a running speed, and calculating the running time length according to a time length of each of the running time periods. 3.The method of claim 1, further comprising: determining an instruction adjustment time length according to the type of the system control instruction; updating the current simulation time according to the instruction adjustment time length. 4.The method of claim 1, further comprising: obtaining a current real time corresponding to the current simulation time, and determining a detection time length between the current real time and the current simulation time; determining an abnormality detection result of collection data loaded by the simulation system according to the detection time length. The simulation system is configured to simulate a real environment of vehicle driving, and the collection data loaded by the simulation system is vehicle collection data in a vehicle driving process.

5. The method of claim 1, wherein, 6.A simulation time correction device, comprising: an initial time obtaining module configured to obtain a collection initial time and a system initial time of a simulation system; the simulation system is configured to simulate a running process of a vehicle system in a real driving scenario of a vehicle; a control instruction obtaining module configured to obtain a current system time of the simulation system in the running process and a system control instruction received by the simulation system; ​ The bias duration determination module is configured to determine a bias duration and a running duration according to the system control instruction, the collection initial time and the system initial time; the simulation system is adjusted in a running process by the system control instruction, and the adjustment does not exist in a real system; the bias duration is used to determine an error between a series of times in the running process of the simulation system and a series of times in the running process of the real system; The simulation time correction module is configured to correct the running duration by using the bias duration, and determine a current simulation time according to the corrected running duration and the collection initial time; The bias duration determination module comprises: The instruction execution duration determination unit is configured to obtain an instruction execution duration corresponding to the system control instruction; The initial bias duration determination unit is configured to determine an initial simulation bias duration according to the collection initial time and the system initial time; The bias duration calculation unit is configured to determine the bias duration according to the instruction execution duration and the initial simulation bias duration; The bias duration determination module comprises: The instruction interval time determination unit is configured to determine a running duration according to the type of each system control instruction and the time period between each system control instruction.

7. The apparatus of claim 6, wherein, The instruction interval time determination unit comprises: The running time period determination subunit is configured to determine at least one running time period in a time period between the current system time and the system initial time according to the type of each system control instruction and the time period between each system control instruction; The speed-up time calculation subunit is configured to obtain a running speed, and calculate the running duration according to the duration of each running time period.

8. The apparatus of claim 6, further comprising: The instruction adjustment duration determination module is configured to determine an instruction adjustment duration according to the type of the system control instruction; The simulation time updating module is configured to update the current simulation time according to the instruction adjustment duration.

9. The apparatus of claim 6, further comprising: The simulation accuracy detection module is configured to obtain a current real time corresponding to the current simulation time, and determine a detection duration between the corresponding current real time and the current simulation time; The simulation anomaly detection module is configured to determine an anomaly detection result of the collection data loaded by the simulation system according to the detection duration.

10. The apparatus of claim 6, wherein, The simulation system is used to simulate a real environment of vehicle driving, and the collection data loaded by the simulation system is vehicle collection data in a vehicle driving process.

11. An electronic device, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the simulation time correction method in any one of claims 1-5.

12. A non-transitory computer readable storage medium having stored thereon computer instructions, wherein, The computer instructions are used to enable the computer to perform the simulation time correction method in any one of claims 1-5.

13. A computer program product comprising a computer program which, when executed by a processor, implements the simulation time correction method according to any one of claims 1-5.

14. An autonomous vehicle comprising the electronic device of claim 11.

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