Vehicle simulation scene processing method, device and storage medium

Abstract

The present invention discloses a method, device and storage medium for processing a vehicle simulation scene. The method comprises: obtaining a target position and a target speed of a first vehicle in a target simulation scene, as well as a target driving time; determining a first position of the first vehicle, a second position of a second vehicle and a target distance based on the target position, the target speed and the target driving time; and generating a target simulation scene based on the target position, the target speed, the target driving time, the first position, the second position and the target distance. The present invention solves the technical problem in the prior art that the simulation scene generation efficiency is low due to the complex process of developing the simulation scene.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicles, and in particular to a method, device and storage medium for processing vehicle simulation scenes. Background Art

[0002] In recent years, driverless technology has become a hot topic that OEMs, universities and research institutes are vying for attention. In the process of autonomous driving development, simulation testing is an indispensable part. Rich simulation scenarios can provide sufficient test resources for autonomous driving development and testing, thereby saving the autonomous driving software development cycle. In the existing technology, the construction of autonomous driving simulation scenarios requires obtaining test data from actual roads, and the process of generating autonomous driving simulation test scenarios is too complicated after special processing of the obtained test data.

[0003] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0004] The embodiments of the present invention provide a method, device and storage medium for processing a vehicle simulation scene, so as to at least solve the technical problem in the prior art that the simulation scene generation efficiency is low due to the complex process of developing the simulation scene.

[0005] According to one aspect of an embodiment of the present invention, a method for processing a vehicle simulation scene is provided, comprising: obtaining a target position and a target speed of a first vehicle in a target simulation scene, and a target driving time, wherein the target position is the position of the first vehicle when the second vehicle switches from a current lane to a target lane where the first vehicle is traveling, the target speed is the speed of the first vehicle when the second vehicle switches from a current lane to a target lane, and the target driving time is the driving time of the first vehicle and the second vehicle before the second vehicle switches from a current lane to a target lane; based on the target position, the target speed, and the target driving time, determining a first position of the first vehicle, a second position of the second vehicle, and a target distance, wherein the first position is the position of the first vehicle at the beginning of the target simulation scene, the second position includes: a sub-starting position, a sub-switching position, and a sub-ending position, the sub-starting position is the position of the second vehicle at the beginning of the target simulation scene, the sub-switching position is the position of the second vehicle when it switches from the current lane to the target lane, the sub-ending position is the position of the second vehicle after it switches from the current lane to the target lane, and the target distance is used to characterize the distance between the first vehicle and the second vehicle when the target simulation scene is triggered; and generating a target simulation scene based on the target position, the target speed, the target driving time, the first position, the second position, and the target distance.

[0006] Optionally, based on the target position, target vehicle speed and target driving time, the first position of the first vehicle, the second position of the second vehicle and the target distance are determined, including: obtaining the driving speed of the second vehicle; determining a sub-switching position based on the target position, target vehicle speed and driving speed; determining a sub-ending position based on the sub-switching position and driving speed; determining the first position based on the target driving time, target vehicle speed and target position; determining a sub-starting position based on the sub-switching position, target driving time and driving speed; and determining the target distance based on the first position and the sub-starting position.

[0007] Optionally, the target position includes: a first target coordinate and a second target coordinate, and the sub-switching position includes: a first switching coordinate and a second switching coordinate, wherein the sub-switching position is determined based on the target position, the target vehicle speed and the driving speed, including: obtaining the first vehicle length of the first vehicle and the second vehicle length of the second vehicle; obtaining the sum of the first target coordinate and a preset lane width to obtain the first switching coordinate; obtaining the sum of the second vehicle length and the first vehicle length to obtain a target sum value; obtaining the difference between the driving speed and the target vehicle speed to obtain a first difference value; and determining the second switching coordinate based on the target sum value, the first difference value and the second target coordinate.

[0008] Optionally, based on the target sum value, the first difference value and the second target coordinates, determining the second switching coordinates includes: obtaining the ratio of the target sum value to a preset value to obtain a target ratio; obtaining the product of the first difference value and a preset collision time to obtain a first product; obtaining the sum of the second target coordinates, the ratio and the first product to obtain the second switching coordinates.

[0009] Optionally, the sub-end position includes: a first end coordinate and a second end coordinate, wherein the sub-end position is determined based on the sub-switching position and the driving speed, including: obtaining the difference between the first switching coordinate in the sub-switching position and the preset lane width to obtain the first end coordinate; obtaining the product of the driving speed and the preset lane switching time to obtain the second product; obtaining the sum of the second switching coordinate in the sub-switching position and the second product to obtain the second end coordinate.

[0010] Optionally, the first position includes: a first coordinate and a second coordinate. Based on the target driving time, the target vehicle speed and the target position, the first position is determined, including: determining the first coordinate as the first target coordinate in the target position; obtaining the product of the target driving time and the target vehicle speed to obtain a third product; obtaining the difference between the second target coordinate in the target position and the third product to obtain the second coordinate.

[0011] Optionally, the sub-starting position includes: a first starting coordinate and a second starting coordinate. The sub-starting position is determined based on the sub-switching position, the target driving time and the driving speed, including: determining the first starting coordinate as the first switching coordinate in the sub-switching position; obtaining the product of the target driving time and the driving speed to obtain a fourth product; obtaining the difference between the second switching coordinate in the sub-switching position and the fourth product to obtain the second starting coordinate.

[0012] Optionally, based on the first position and the sub-starting position, determining the target distance includes: obtaining the difference between the first coordinate in the first position and the first starting coordinate in the sub-starting position to obtain a second difference; obtaining the difference between the second coordinate in the first position and the second starting coordinate in the sub-starting position to obtain a third difference; obtaining the sum of the square of the second difference and the square of the third difference to obtain the target distance.

[0013] According to another aspect of an embodiment of the present invention, a vehicle simulation scene processing device is also provided, including: an acquisition module, used to acquire a target position and a target speed of a first vehicle in a target simulation scene, and a target driving time; a determination module, used to determine a first position of the first vehicle, a second position of the second vehicle, and a target distance based on the target position, the target speed, and the target driving time; and a generation module, used to generate a target simulation scene based on the target position, the target speed, the target driving time, the first position, the second position, and the target distance.

[0014] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is further provided. The non-volatile storage medium includes a stored program, wherein when the program is running, a processor of a device is controlled to execute any one of the above-mentioned vehicle simulation scenario processing methods.

[0015] Through the above steps, the target position and target speed of the first vehicle in the target simulation scene, as well as the target driving time, are obtained, wherein the target position is the position of the first vehicle when the second vehicle switches from the current lane to the target lane where the first vehicle is traveling, the target speed is the speed of the first vehicle when the second vehicle switches from the current lane to the target lane, and the target driving time is the driving time of the first vehicle and the second vehicle before the second vehicle switches from the current lane to the target lane; based on the target position, the target speed and the target driving time, the first position of the first vehicle, the second position of the second vehicle and the target distance are determined, wherein the first position is the position of the first vehicle at the beginning of the target simulation scene, the second position includes: a sub-starting position, a sub-switching position and a sub-ending position, the sub-starting position is the position of the second vehicle at the beginning of the target simulation scene, the sub-switching position is the position of the second vehicle when it switches from the current lane to the target lane, the sub-ending position is the position of the second vehicle after switching from the current lane to the target lane, and the target distance is used to characterize the distance between the first vehicle and the second vehicle when the target simulation scene is triggered; based on the target position, the target speed, the target driving time, the first position, the second position and the target distance, the target simulation scene is generated. It is easy to think that, given the target speed and target position of the first vehicle and the target driving time of the first vehicle and the second vehicle before cutting in, the scene trigger distance can be determined, and the simulation scene can be further generated, thereby solving the technical problem of low simulation scene generation efficiency caused by the complex process of developing simulation scenes in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 is a flow chart of a vehicle simulation scene processing method according to an embodiment of the present invention;

[0018] Figure 2 is a flow chart of an optional operation method according to an embodiment of the present invention;

[0019] Figure 3 is a schematic diagram of an optional express cut-in scenario implementation according to an embodiment of the present invention;

[0020] Figure 4 2 is a schematic diagram of a vehicle simulation scene processing device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] Example 1

[0024] According to an embodiment of the present invention, an embodiment of a method for processing a vehicle simulation scenario is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] Figure 1 is a flow chart of a vehicle simulation scene processing method according to an embodiment of the present invention. Figure 1 As shown, the method comprises the following steps:

[0026] Step S102, obtaining a target position and a target speed of the first vehicle in the target simulation scene, as well as a target driving time, wherein the target position is the position of the first vehicle when the second vehicle switches from the current lane to the target lane where the first vehicle is traveling, the target speed is the speed of the first vehicle when the second vehicle switches from the current lane to the target lane, and the target driving time is the driving time of the first vehicle and the second vehicle before the second vehicle switches from the current lane to the target lane.

[0027] The above target simulation scenario may be a simulation scenario of an autonomous driving vehicle changing lanes.

[0028] The first vehicle mentioned above may be a vehicle traveling on a target lane, wherein the target lane may be a lane to which the second vehicle is to switch.

[0029] The second vehicle mentioned above may be a vehicle that is about to switch the current driving lane.

[0030] The above-mentioned target driving time can be the time during which the first vehicle and the second vehicle travel at a constant speed before the second vehicle switches from the current lane to the target lane, wherein the target driving time can start from when the second vehicle increases its driving speed and prepares to move forward at a high speed and a constant speed, and ends when it is ready to change driving direction and enter the target lane.

[0031] In an optional embodiment, the user may set the target position and target speed of the first vehicle, as well as the target driving time. Optionally, the vehicle's forward direction may be the Y axis of the earth coordinate system, the direction perpendicular to the Y axis may be the X axis, and the positions of the first vehicle and the second vehicle may be represented based on the coordinate points in the coordinate axis.

[0032] Step S104, based on the target position, target vehicle speed and target driving time, determine the first position of the first vehicle, the second position of the second vehicle and the target distance, wherein the first position is the position of the first vehicle when the target simulation scenario starts, and the second position includes: a sub-starting position, a sub-switching position and a sub-ending position, the sub-starting position is the position of the second vehicle when the target simulation scenario starts, the sub-switching position is the position of the second vehicle when it switches from the current lane to the target lane, the sub-ending position is the position of the second vehicle after switching from the current lane to the target lane, and the target distance is used to characterize the distance between the first vehicle and the second vehicle when the target simulation scenario is triggered.

[0033] In an optional embodiment, the first position of the first vehicle can be determined based on the target position, the target speed, and the target driving time, wherein the first position can be the position of the first vehicle when the simulation scenario starts, and the first position can include a first coordinate and a second coordinate.

[0034] In another optional embodiment, the driving speed of the second vehicle can be obtained through a speed sensor in the simulation scene, and then the sub-switching position is determined based on the target position, the target vehicle speed and the driving speed. When the sub-switching position is determined, the driving trajectory of the second vehicle can be predicted based on the sub-switching position and the driving speed, and the sub-ending position can be determined according to the driving trajectory of the second vehicle. Finally, the sub-starting position is determined through relevant calculations based on the sub-switching position, the target driving time and the driving speed.

[0035] In another optional embodiment, when the first position and the sub-starting position are determined, the shortest distance between the first vehicle and the second vehicle, i.e., the target distance, can be determined based on the first position and the sub-starting position, wherein the target distance is used to represent the distance between the first vehicle and the second vehicle when the target simulation scene is triggered.

[0036] Step S106, generating a target simulation scenario based on the target position, the target vehicle speed, the target driving time, the first position, the second position and the target distance.

[0037] The above-mentioned target simulation scenario may be a vehicle lane-changing simulation scenario, which may be applied in the development process of autonomous driving software, thereby saving the autonomous driving software development cycle.

[0038] When the first position and the second position have been determined, a target simulation scenario can be automatically generated based on the target position, target vehicle speed, target driving time, the first position, the second position and the target distance.

[0039] Figure 2 is a flow chart of an optional operation method according to an embodiment of the present invention. Figure 2 As shown, the operation method is divided into the following steps:

[0040] Step S202, the user specifies the target position and target speed of the first vehicle when the second vehicle starts to cut in, and the time the first vehicle and the second vehicle travel at a constant speed before the second vehicle starts to cut in, i.e., the target driving time;

[0041] Step S204, calculating the sub-switching position when the second vehicle starts to cut in the adjacent lane by given data;

[0042] Step S206, determining the sub-end position of the second vehicle in the case where the sub-switching position and the cut-in time of the second vehicle have been determined;

[0043] Step S208, determining the first position based on the target speed of the first vehicle, and determining the sub-starting position of the second vehicle based on the speed of the second vehicle when it starts to change lanes, that is, the driving speed of the second vehicle;

[0044] Step S210, when the first position and the sub-starting position have been determined, calculating the scene triggering distance;

[0045] Step S212: automatically generate a simulation scenario based on the above calculation amount.

[0046] Through the above steps, the target position and target speed of the first vehicle in the target simulation scene, as well as the target driving time, are obtained, wherein the target position is the position of the first vehicle when the second vehicle switches from the current lane to the target lane where the first vehicle is traveling, the target speed is the speed of the first vehicle when the second vehicle switches from the current lane to the target lane, and the target driving time is the driving time of the first vehicle and the second vehicle before the second vehicle switches from the current lane to the target lane; based on the target position, the target speed and the target driving time, the first position of the first vehicle, the second position of the second vehicle and the target distance are determined, wherein the first position is the position of the first vehicle at the beginning of the target simulation scene, the second position includes: a sub-starting position, a sub-switching position and a sub-ending position, the sub-starting position is the position of the second vehicle at the beginning of the target simulation scene, the sub-switching position is the position of the second vehicle when it switches from the current lane to the target lane, the sub-ending position is the position of the second vehicle after switching from the current lane to the target lane, and the target distance is used to characterize the distance between the first vehicle and the second vehicle when the target simulation scene is triggered; based on the target position, the target speed, the target driving time, the first position, the second position and the target distance, the target simulation scene is generated. It is easy to think that, given the target speed and target position of the first vehicle and the target driving time of the first vehicle and the second vehicle before cutting in, the scene trigger distance can be determined, and the simulation scene can be further generated, thereby solving the technical problem of low simulation scene generation efficiency caused by the complex process of developing simulation scenes in the prior art.

[0047] Optionally, based on the target position, target vehicle speed and target driving time, the first position of the first vehicle, the second position of the second vehicle and the target distance are determined, including: obtaining the driving speed of the second vehicle; determining a sub-switching position based on the target position, target vehicle speed and driving speed; determining a sub-ending position based on the sub-switching position and driving speed; determining the first position based on the target driving time, target vehicle speed and target position; determining a sub-starting position based on the sub-switching position, target driving time and driving speed; and determining the target distance based on the first position and the sub-starting position.

[0048] The target vehicle speed may be the speed of the first vehicle when the second vehicle switches from the current lane to the target lane, expressed as V 1 .

[0049] The above target position may include a first target coordinate and a second target coordinate, which is expressed as (X 1_init ,Y 1_init ).

[0050] The driving speed may be the driving speed of the second vehicle after it starts changing lanes, expressed as V 2 .

[0051] The above-mentioned sub-switching position may include a first switching coordinate and a second switching coordinate, which is expressed as (X 2_start_ch ,Y 2_start_ch ).

[0052] The above-mentioned sub-end position may include a first end coordinate and a second end coordinate, which is expressed as (X 2_end ,Y 2_end ).

[0053] The first position may include a first coordinate and a second coordinate, which is expressed as (X 1_start_scen ,Y 1_start_scen ).

[0054] The above sub-starting position may include a first starting coordinate and a second starting coordinate, which is expressed as (X 2_start_scen ,Y 2_start_scen ).

[0055] The target distance may be the distance between the first position and the first position and the sub-starting position, expressed as D trigger .

[0056] In an optional embodiment, the driving speed of the second vehicle may be first acquired, and then the first switching coordinate and the second switching coordinate of the sub-switching position may be determined according to the acquired target position, target vehicle speed and driving speed.

[0057] After determining the first switching coordinate and the second switching coordinate of the sub-switching position, the first ending coordinate and the second ending coordinate of the sub-ending position can be determined according to the sub-switching position and the driving speed. And the first starting coordinate and the second starting coordinate of the sub-starting position are determined according to the first switching coordinate and the second switching coordinate of the sub-switching position and the target driving time and the driving speed. At the same time, the first position is determined according to the target driving time, the target speed and the target position. When the first position and the sub-starting position are determined, the target distance, that is, the scene trigger distance, can be determined according to the first position and the sub-starting position, so as to realize automatic generation of the simulation scene according to the scene trigger distance.

[0058] Optionally, the target position includes: a first target coordinate and a second target coordinate, and the sub-switching position includes: a first switching coordinate and a second switching coordinate, wherein the sub-switching position is determined based on the target position, the target vehicle speed and the driving speed, including: obtaining the first vehicle length of the first vehicle and the second vehicle length of the second vehicle; obtaining the sum of the first target coordinate and a preset lane width to obtain the first switching coordinate; obtaining the sum of the second vehicle length and the first vehicle length to obtain a target sum value; obtaining the difference between the driving speed and the target vehicle speed to obtain a first difference value; and determining the second switching coordinate based on the target sum value, the first difference value and the second target coordinate.

[0059] The first difference may be a difference between the driving speed and the target vehicle speed.

[0060] In an optional embodiment, the length L of the first vehicle can be obtained. 1 and the length of the second vehicle L 2 , wherein the length of the first vehicle and the length of the second vehicle may be the same or different, and further obtain the preset lane width W road , get the collision time thw.

[0061] Among them, the first switching coordinate can be obtained by adding the first target coordinate to the preset lane width, and the second switching coordinate can be determined by the product of the difference between the driving speed and the target vehicle speed, the sum of the second vehicle length and the first vehicle length, and the second target coordinate.

[0062] Optionally, based on the target sum value, the first difference value and the second target coordinates, determining the second switching coordinates includes: obtaining the ratio of the target sum value to a preset value to obtain a target ratio; obtaining the product of the first difference value and a preset collision time to obtain a first product; obtaining the sum of the second target coordinates, the ratio and the first product to obtain the second switching coordinates.

[0063] The above-mentioned first product can be the product of the first difference and the preset collision time, that is, the product of the difference between the driving speed and the target vehicle speed and the preset collision time, wherein the preset collision time can be the time from the beginning of contact to the complete separation of the first vehicle and the second vehicle that is preset during driving.

[0064] In an optional embodiment, the first switching coordinate and the second switching coordinate may be calculated by the following formula.

[0065]

[0066] Among them, the first switching coordinate can be obtained by adding the first target coordinate to the preset lane width. When calculating the second switching coordinate, the product of the difference between the driving speed and the target vehicle speed and the average of the second vehicle length and the first vehicle length can be calculated first, and then the product of the difference between the driving speed and the target vehicle speed and the average of the second vehicle length and the first vehicle length can be added to the second target coordinate to obtain the second switching coordinate.

[0067] Optionally, the sub-end position includes: a first end coordinate and a second end coordinate, wherein, based on the sub-switching position and the driving speed, determining the sub-end position includes: obtaining the difference between the first switching coordinate in the sub-switching position and the preset lane width to obtain the first end coordinate; obtaining the driving speed and the preset lane switching time t chThe second product is obtained by multiplying the second switching coordinate in the sub-switching position and the second product to obtain the second ending coordinate. The first ending coordinate and the second ending coordinate can be used to indicate the position of the second vehicle at the end of the lane change of the second vehicle.

[0068] In an optional embodiment, the first end coordinate and the second end coordinate may be calculated by the following formula.

[0069]

[0070] The first switching coordinate obtained can be subtracted from the preset lane width, that is, the influence of the lane width on the second vehicle's driving process is eliminated, thereby determining the first end coordinate. Then, the product of the driving speed and the preset lane switching time is obtained, and the product is determined as the second product, which can represent the distance traveled by the second vehicle within the preset lane switching time. The second product is added to the second switching coordinate to determine the second end coordinate, that is, the position coordinate of the second vehicle when the switch ends is obtained.

[0071] Optionally, the first position includes: a first coordinate and a second coordinate. Based on the target driving time, the target vehicle speed and the target position, the first position is determined, including: determining the first coordinate as the first target coordinate in the target position; obtaining the product of the target driving time and the target vehicle speed to obtain a third product; obtaining the difference between the second target coordinate in the target position and the third product to obtain the second coordinate.

[0072] The third product may be the product of the target driving time and the target vehicle speed.

[0073] In an optional embodiment, the first coordinate and the second coordinate may be calculated by the following formula.

[0074]

[0075] Among them, the first target coordinate in the target position can be determined as the first coordinate, and then the product of the target driving time and the target vehicle speed, that is, the third product, is obtained, and the second target coordinate in the target position is subtracted from the third product to determine the second coordinate.

[0076] Optionally, the sub-starting position includes: a first starting coordinate and a second starting coordinate. The sub-starting position is determined based on the sub-switching position, the target driving time and the driving speed, including: determining the first starting coordinate as the first switching coordinate in the sub-switching position; obtaining the product of the target driving time and the driving speed to obtain a fourth product; obtaining the difference between the second switching coordinate in the sub-switching position and the fourth product to obtain the second starting coordinate.

[0077] The fourth product may be a product of the target driving time and the driving speed, and may be used to represent the distance traveled by the second vehicle within the target driving time.

[0078] In an optional embodiment, the first starting coordinate and the second starting coordinate may be calculated by the following formula.

[0079]

[0080] The first switching coordinate in the sub-switching position may be determined as the first starting coordinate, and the difference between the second switching coordinate in the sub-switching position and the fourth product may be further obtained and determined as the second starting coordinate.

[0081] Optionally, based on the first position and the sub-starting position, determining the target distance includes: obtaining the difference between the first coordinate in the first position and the first starting coordinate in the sub-starting position to obtain a second difference; obtaining the difference between the second coordinate in the first position and the second starting coordinate in the sub-starting position to obtain a third difference; obtaining the sum of the square of the second difference and the square of the third difference to obtain the target distance.

[0082] The second difference may be a difference between the first coordinate in the first position and the first starting coordinate in the sub-starting position. The third difference may be a difference between the second coordinate in the first position and the second starting coordinate in the sub-starting position. Optionally, the second difference and the third difference may be used to represent the distance between the first vehicle and the second vehicle at the start of the simulation scene.

[0083] In an optional embodiment, when the first position and the sub-starting position are obtained, the target distance, i.e., the scene trigger distance, can be determined by obtaining the difference between the first coordinate in the first position and the first starting coordinate in the sub-starting position, i.e., the second difference, and simultaneously obtaining the difference between the second coordinate in the first position and the second starting coordinate in the sub-starting position, i.e., the third difference, and calculating the sum of the square of the second difference and the square of the third difference. The following is an optional scene trigger distance calculation formula:

[0084] D trigger =sqrt((X 1_start_scen -X 2_start_scen ) 2 +(Y 1_start_scen -Y 2_start_scen ) 2 )

[0085] Figure 3 is a schematic diagram of an optional express cut-in scenario implementation according to an embodiment of the present invention, such as Figure 3 As shown, the second vehicle is waiting at position B1, and the first vehicle is at position A0 (the distance between positions A0 and B1 must be less than Dtrigger That is, the scene trigger distance to prevent abnormal scene triggering) at speed V 1 Drive to position A1; when the vehicle reaches position A1, the distance between the two vehicles is D veh_to_tar Reaching the scene trigger threshold, i.e. D veh_to_tar ≥D trigger , the second vehicle has a speed V 2 Drive to B2, time t acc In this process, the first vehicle moves from position A1 to position A2; when the second vehicle reaches position B2, it will cut into the lane to the right and finally reach position B3. The entire cutting process from B2 to B3 takes time t ch .

[0086] Example 2

[0087] According to an embodiment of the present invention, a vehicle simulation scene processing device is also provided, which can execute the vehicle simulation processing method in the above embodiment. Figure 4 is a schematic diagram of a vehicle simulation scene processing device according to an embodiment of the present invention. Figure 4 As shown, the device includes the following components:

[0088] An acquisition module 402 is used to acquire a target position and a target speed of the first vehicle in a target simulation scene, as well as a target driving time;

[0089] A determination module 404, configured to determine a first position of the first vehicle, a second position of the second vehicle, and a target distance based on the target position, the target vehicle speed, and the target driving time;

[0090] The generation module 406 is used to generate a target simulation scenario based on the target position, the target vehicle speed, the target driving time, the first position, the second position and the target distance.

[0091] Optionally, the determination module 404 includes: an acquisition unit for acquiring the driving speed of the second vehicle; determining a sub-switching position based on the target position, the target vehicle speed and the driving speed; determining a sub-ending position based on the sub-switching position and the driving speed; determining a first position based on the target driving time, the target vehicle speed and the target position; determining a sub-starting position based on the sub-switching position, the target driving time and the driving speed; and determining a target distance based on the first position and the sub-starting position.

[0092] Optionally, the acquisition unit includes: a first acquisition subunit, used to acquire a first vehicle length of the first vehicle and a second vehicle length of the second vehicle; acquire the sum of the first target coordinate and a preset lane width to obtain a first switching coordinate; acquire the sum of the second vehicle length and the first vehicle length to obtain a target sum value; acquire the difference between the driving speed and the target vehicle speed to obtain a first difference value; and determine the second switching coordinate based on the target sum value, the first difference value and the second target coordinate.

[0093] Optionally, the acquisition unit also includes: a second acquisition subunit, used to acquire the ratio of the target sum value to the preset value to obtain the target ratio; acquire the product of the first difference and the preset collision time to obtain the first product; acquire the sum of the second target coordinates, the ratio and the first product to obtain the second switching coordinates.

[0094] Optionally, the acquisition unit also includes: a third acquisition sub-unit, used to acquire the difference between the first switching coordinate in the sub-switching position and the preset lane width to obtain the first end coordinate; acquire the product of the driving speed and the preset lane switching time to obtain the second product; acquire the sum of the second switching coordinate in the sub-switching position and the second product to obtain the second end coordinate.

[0095] Optionally, the acquisition unit includes: a first determination unit, which determines the first coordinate as the first target coordinate in the target position; obtains the product of the target driving time and the target vehicle speed to obtain a third product; obtains the difference between the second target coordinate in the target position and the third product to obtain the second coordinate.

[0096] Optionally, the acquisition unit also includes: a second determination unit: used to determine the first starting coordinate as the first switching coordinate in the sub-switching position; obtain the product of the target driving time and the driving speed to obtain a fourth product; obtain the difference between the second switching coordinate in the sub-switching position and the fourth product to obtain the second starting coordinate.

[0097] Optionally, the acquisition unit also includes: a fourth acquisition sub-unit: used to acquire the difference between the first coordinate in the first position and the first starting coordinate in the sub-starting position to obtain a second difference; acquire the difference between the second coordinate in the first position and the second starting coordinate in the sub-starting position to obtain a third difference; acquire the sum of the square of the second difference and the square of the third difference to obtain the target distance.

[0098] Example 3

[0099] According to an embodiment of the present invention, a non-volatile storage medium is also provided, which includes a stored program, wherein when the program is running, the processor of the device is controlled to execute any one of the above-mentioned vehicle simulation scenario processing methods.

[0100] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0101] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0103] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0104] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0105] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0106] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for processing a vehicle simulation scene, characterized in that: include: Obtaining a target position and a target speed of the first vehicle in a target simulation scenario, as well as a target driving time, wherein the target position is the position of the first vehicle when the second vehicle switches from the current lane to the target lane in which the first vehicle is traveling, the target speed is the speed of the first vehicle when the second vehicle switches from the current lane to the target lane, and the target driving time is the driving time of the first vehicle and the second vehicle before the second vehicle switches from the current lane to the target lane; Based on the target position, the target vehicle speed and the target driving time, determine the first position of the first vehicle, the second position of the second vehicle and the target distance, wherein the first position is the position of the first vehicle when the target simulation scenario starts, and the second position includes: a sub-starting position, a sub-switching position and a sub-ending position, the sub-starting position is the position of the second vehicle when the target simulation scenario starts, the sub-switching position is the position of the second vehicle when it switches from the current lane to the target lane, the sub-ending position is the position of the second vehicle after switching from the current lane to the target lane, and the target distance is used to characterize the distance between the first vehicle and the second vehicle when the target simulation scenario is triggered, wherein the sub-starting position includes a first starting coordinate and a second starting coordinate, the sub-switching position includes: a first switching coordinate and a second switching coordinate, and the sub-ending position includes: a first ending coordinate and a second ending coordinate, and the sub-starting position and the sub-ending position can be determined respectively based on the sub-switching position; The target simulation scene is generated based on the target position, the target vehicle speed, the target driving time, the first position, the second position and the target distance. The automatic generation process of the target simulation scene includes automatic calculation of the position and speed of the first vehicle and the second vehicle in the simulation environment, and determination of the target distance.

2. The method according to claim 1, characterized in that: Determining a first position of the first vehicle, a second position of the second vehicle, and a target distance based on the target position, the target vehicle speed, and the target driving time includes: obtaining a driving speed of the second vehicle; determining the sub-switch position based on the target position, the target vehicle speed and the driving speed; determining the sub-end position based on the sub-switching position and the driving speed; determining the first position based on the target driving time, the target vehicle speed and the target position; determining the sub-starting position based on the sub-switching position, the target driving time and the driving speed; The target distance is determined based on the first position and the sub-starting position.

3. The method according to claim 2, characterized in that: The target position includes: a first target coordinate and a second target coordinate, and the sub-switching position includes: a first switching coordinate and a second switching coordinate, wherein the sub-switching position is determined based on the target position, the target vehicle speed and the driving speed, including: Obtaining a first vehicle length of the first vehicle and a second vehicle length of the second vehicle; Obtaining the sum of the first target coordinate and a preset lane width to obtain the first switching coordinate; Obtaining the sum of the second vehicle length and the first vehicle length to obtain a target sum value; Obtaining a difference between the driving speed and the target vehicle speed to obtain a first difference value; The second switching coordinates are determined based on the target sum value, the first difference value, and the second target coordinates.

4. The method according to claim 3, characterized in that: Determining the second switching coordinate based on the target sum value, the first difference value and the second target coordinate includes: Obtaining a ratio of the target sum value to a preset value to obtain a target ratio; Obtaining the product of the first difference and a preset collision time to obtain a first product; The sum of the second target coordinates, the ratio and the first product is obtained to obtain the second switching coordinates.

5. The method according to claim 2, characterized in that: The sub-end position includes: a first end coordinate and a second end coordinate, wherein the sub-end position is determined based on the sub-switching position and the driving speed, including: Obtaining a difference between a first switching coordinate in the sub-switching position and a preset lane width to obtain the first end coordinate; Obtaining a product of the driving speed and a preset lane switching time to obtain a second product; The sum of the second switching coordinate in the sub-switching position and the second product is acquired to obtain the second end coordinate.

6. The method according to claim 2, characterized in that: The first position includes: a first coordinate and a second coordinate. Based on the target driving time, the target vehicle speed and the target position, determining the first position includes: Determining a first coordinate as a first target coordinate in the target position; Obtaining the product of the target driving time and the target vehicle speed to obtain a third product; The difference between the second target coordinate in the target position and the third product is obtained to obtain the second coordinate.

7. The method according to claim 2, characterized in that: The sub-starting position includes: a first starting coordinate and a second starting coordinate. The sub-starting position is determined based on the sub-switching position, the target driving time and the driving speed, including: Determining the first starting coordinate as a first switching coordinate in the sub-switching position; Obtaining a product of the target driving time and the driving speed to obtain a fourth product; The difference between the second switching coordinate in the sub-switching position and the fourth product is obtained to obtain the second starting coordinate.

8. The method according to claim 2, characterized in that: Determining the target distance based on the first position and the sub-starting position includes: Obtaining a difference between a first coordinate in the first position and a first starting coordinate in the sub-starting position to obtain a second difference; Obtaining a difference between the second coordinate in the first position and the second starting coordinate in the sub-starting position to obtain a third difference; The sum of the square of the second difference and the square of the third difference is obtained to obtain the target distance.

9. A vehicle simulation scene processing device, characterized in that: include: an acquisition module, configured to acquire a target position and a target speed of a first vehicle in a target simulation scenario, and a target driving time, wherein the target position is the position of the first vehicle when the second vehicle switches from a current lane to a target lane in which the first vehicle is traveling, the target speed is the speed of the first vehicle when the second vehicle switches from the current lane to the target lane, and the target driving time is the driving time of the first vehicle and the second vehicle before the second vehicle switches from the current lane to the target lane; A determination module, for determining a first position of the first vehicle, a second position of the second vehicle and a target distance based on the target position, the target vehicle speed and the target driving time, wherein the first position is the position of the first vehicle when the target simulation scenario starts, and the second position includes: a sub-starting position, a sub-switching position and a sub-ending position, the sub-starting position is the position of the second vehicle when the target simulation scenario starts, the sub-switching position is the position of the second vehicle when it switches from the current lane to the target lane, the sub-ending position is the position of the second vehicle after switching from the current lane to the target lane, and the target distance is used to characterize the distance between the first vehicle and the second vehicle when the target simulation scenario is triggered, wherein the sub-starting position includes a first starting coordinate and a second starting coordinate, the sub-switching position includes: a first switching coordinate and a second switching coordinate, and the sub-ending position includes: a first ending coordinate and a second ending coordinate, and the sub-starting position and the sub-ending position can be determined respectively based on the sub-switching position; A generation module is used to generate the target simulation scene based on the target position, the target vehicle speed, the target driving time, the first position, the second position and the target distance. The automatic generation process of the target simulation scene includes automatic calculation of the position and speed of the first vehicle and the second vehicle in the simulation environment, and determination of the target distance.

10. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is running, the processor of the device is controlled to execute the vehicle simulation scenario processing method according to any one of claims 1 to 8.

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