A simulation scenario generation method and generation system integrating automobile driving use cases

Abstract

The application provides a kind of integrated automobile driving use case simulation scene generation method and generation system, method includes: obtaining specific use case list, extract static road network information and dynamic traffic flow information in each specific use case data in list;Based on static road network information, construct static road map scene;And, based on dynamic traffic flow information, construct dynamic traffic flow scene;Based on the static road map scene and dynamic traffic flow scene constructed, verify the consistency and real-time of traffic flow action to road map;When verification passes, the corresponding simulation scene is generated.The application adopts the combination of two kinds of construction algorithms, and the data exchange and verification of road construction algorithm and traffic flow construction algorithm are continuously carried out in the process of information extraction and scene construction, which can quickly compare and verify the real-time and consistency of traffic flow action to map, improve the test success rate of simulation scene, improve work efficiency, especially in a large number of generalized scenes.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle driving simulation test, and more particularly, to a simulation scene generation method and system for integrating automobile driving use cases. BACKGROUND

[0002] In the field of automatic driving simulation, the evaluation of vehicle functions through the design of test cases has been very mature. The scope and field that cannot be designed by simulation testing will be tested by real vehicles. At present, simulation testing can complete the joint testing of various functions such as ACC, AEB and LCA of the vehicle, and compared with real vehicle testing, the safety and the consumption of manpower and material resources are reduced. SUMMARY

[0003] The present application provides a simulation scene generation method and system for integrating automobile driving use cases, which avoids manual adjustment of scenes and maps, and solves the simulation testing in special scenarios.

[0004] According to a first aspect of the present application, a simulation scene generation method for integrating automobile driving use cases is provided, comprising:

[0005] acquiring a specific use case list and analyzing each specific use case data in the specific use case list;

[0006] extracting static road network information and dynamic traffic flow information in each specific use case data;

[0007] constructing a static road map scene based on the static road network information, and constructing a dynamic traffic flow scene based on the dynamic traffic flow information;

[0008] verifying the consistency and real-time performance of traffic flow actions on the road map based on the constructed static road map scene and dynamic traffic flow scene;

[0009] generating a corresponding simulation scene when the verification is passed.

[0010] Based on the above technical solution, the present application can also be improved as follows.

[0011] Optionally, the acquisition of the specific use case list further comprises:

[0012] After designing the functional scene and the logic scene, the generalization of the scene is performed, a sufficient number of specific scenes are generated, and the specific scenes are filled into the table header according to the test case design specification to generate the specific use case list.

[0013] Optionally, the construction of the static road map scene based on the static road network information and the construction of the dynamic traffic flow scene based on the dynamic traffic flow information comprise:

[0014] Based on the extracted specific use case data, an xml simulation file is generated, for the static road network information therein, a matching OpenDRIVE map is drawn through the description of the key fields of the map;

[0015] For the dynamic traffic flow information therein, it is judged whether an OpenSCENARIO file can be generated, if so, based on the dynamic traffic flow information, a corresponding OpenSCENARIO file is generated;

[0016] Based on the OpenSCENARIO file or the xml file, a dynamic traffic flow scene is constructed.

[0017] Optionally, the static road map scene is constructed based on the static road network information, and the dynamic traffic flow scene is constructed based on the dynamic traffic flow information, including:

[0018] The static road network information is input into a road construction algorithm, the road construction algorithm constructs the road according to the road type, the road curvature and the road slope, and generates the obstacles in the road based on the static obstacle information, thereby constructing the static road map scene;

[0019] The dynamic traffic flow information is input into a traffic flow construction algorithm, the traffic flow construction algorithm analyzes the traffic flow type, the number and the traffic flow action in the road, and combines the vehicle dynamics model and the physical model to initialize the traffic flow action and realize the control of the traffic flow.

[0020] Optionally, the static road map scene is constructed based on the static road network information, and the dynamic traffic flow scene is constructed based on the dynamic traffic flow information, including:

[0021] The static road network information and the dynamic traffic flow information are subjected to cutting processing, and the road segment information is cut off and the corresponding traffic flow segment information is cut off;

[0022] The static road map scene is constructed based on the cut-off road segment information, and the dynamic traffic flow scene is constructed based on the cut-off traffic flow segment information.

[0023] Optionally, the consistency and the real-time performance of the traffic flow action to the road map are verified based on the constructed static road map scene and the dynamic traffic flow scene, including:

[0024] According to the special position in the static road map scene, it is judged whether there is a traffic flow action corresponding to the special position, if so, the traffic flow action has consistency to the road map;

[0025] On the basis that the traffic flow action is consistent with the road map, it is judged whether the corresponding traffic flow action occurs at the special position, and if so, the traffic flow action is real-time with the road map.

[0026] Optionally, the judging whether the traffic flow action is consistent with the road map according to the special position in the static road map scene comprises:

[0027] According to the curve position in the static road map scene, it is judged whether there is a vehicle curve driving action in the traffic flow action, and if so, it is determined that the traffic flow action is consistent with the road map, otherwise, it is not consistent with the road map;

[0028] Correspondingly, on the basis that the traffic flow action is consistent with the road map, it is judged whether the corresponding traffic flow action occurs at the special position, and if so, the traffic flow action is real-time with the road map, comprising:

[0029] According to the motion information of the vehicle in the road, it is judged whether the curve driving action of the vehicle is at the curve position, and if so, it is determined that the traffic flow action is real-time with the road map, otherwise, it is not real-time with the road map.

[0030] According to the second aspect of the present application, a simulation scene generation system integrating automobile driving use cases is provided, comprising:

[0031] An acquisition module is configured to acquire a specific use case list and analyze each specific use case data in the specific use case list;

[0032] An extraction module is configured to extract static road network information and dynamic traffic flow information in each specific use case data;

[0033] A construction module is configured to construct a static road map scene based on the static road network information, and construct a dynamic traffic flow scene based on the dynamic traffic flow information;

[0034] A verification module is configured to verify consistency and real-time of the traffic flow action with the road map based on the constructed static road map scene and dynamic traffic flow scene;

[0035] A generation module is configured to generate a corresponding simulation scene when the verification is passed.

[0036] According to the third aspect of the present application, an electronic device is provided, comprising a memory and a processor, the processor is configured to execute a computer management type program stored in the memory to realize the steps of the simulation scene generation method integrating automobile driving use cases.

[0037] According to a fourth aspect of the present application, a computer readable storage medium is provided, having stored thereon a computer management program which, when executed by a processor, implements the steps of the simulation scenario generation method for integrated automobile driving use cases.

[0038] The simulation scenario generation method for integrated automobile driving use cases provided by the present application adopts two combined construction algorithms, a road construction algorithm and a traffic flow construction algorithm, which constantly exchange and verify data in the process of information extraction and scenario construction, can quickly compare and verify the real-time and consistency of traffic flow actions on the map, improve the test success rate of the simulation scenario, improve the work efficiency, especially in a large number of generalized scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 A simulation scenario generation method for integrated automobile driving use cases is provided by the present application;

[0040] Figure 2 A simulation scenario generation method for integrated automobile driving use cases is provided by the present application;

[0041] Figure 3 A simulation scenario generation system for integrated automobile driving use cases is provided by the present application;

[0042] Figure 4 A possible hardware structure of an electronic device is provided by the present application;

[0043] Figure 5 A possible hardware structure of a computer readable storage medium is provided by the present application. DETAILED DESCRIPTION

[0044] The specific embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not used to limit the scope of the present application.

[0045] Example 1

[0046] A simulation scenario generation method for integrated automobile driving use cases is provided by the present application, see Figure 1 The simulation scenario generation method mainly includes the following steps:

[0047] S1, obtaining a specific use case list, and analyzing each specific use case data in the specific use case list.

[0048] As an example, the specific use case list is obtained, and before that, the generalization work of the scene is performed after designing the functional scene and the logical scene, a sufficient number of specific scenes are generated, and the specific scenes are filled into the table header according to the test case design specification to generate the specific use case list.

[0049] It can be understood that in the field of simulation of automatic driving, the versions of OpenSCENARIO supported by the automatic driving simulation software on the market are different. After September 2018, the maintenance work of OpenSCENARIO was taken over by the German standardization organization ASAM, and the versions of 1.0 and later were responsible by ASAM, and the 1.0 version was released in March 2020, and the xml format file used by the present application is based on OpenSCENARIO 1.0 version and VTD simulation software.

[0050] The present application defines the design specification of the test case by defining the design specification of the test case, and outputs the design specification of different test cases of the scene including NOA, APA and the like through the test case design standard. Specifically, after the function scene and the logic scene are designed, the generalization of the scene is performed, a sufficient number of specific scenes are generated, and the specific scenes are filled into the table header according to the test case design specification to generate a specific case list.

[0051] By writing an automatic tool, reading the table header-specific case obtained by the test case specification design, converting the specific case into the xml (markup language format) file format corresponding to OpenSCENARIO and VTD (scene simulation software), and performing simulation test work in the two forms.

[0052] S2, extracting static road network information and dynamic traffic flow information in each specific case data.

[0053] It can be understood that each specific case in the test case list is read, the data therein is analyzed, and the static information and dynamic information therein are extracted. The static information herein mainly refers to static road network information, and the dynamic information mainly refers to target information of dynamic running of vehicles, pedestrians and the like.

[0054] Among them, based on the extracted specific case data, an xml simulation file is generated, for the static road network information therein, an OpenDRIVE map is drawn through the description of the key field of the map; for the dynamic traffic flow information therein, it is judged whether the OpenSCENARIO file can be generated, if so, based on the dynamic traffic flow information, the corresponding OpenSCENARIO file is generated; based on the OpenSCENARIO file or the xml file, the dynamic traffic flow scene is constructed.

[0055] S3, based on the static road network information, a static road map scene is constructed; and based on the dynamic traffic flow information, a dynamic traffic flow scene is constructed.

[0056] As an embodiment, based on the static road network information, a static road map scene is constructed; and based on the dynamic traffic flow information, a dynamic traffic flow scene is constructed, including: inputting the static road network information into a road construction algorithm, the road construction algorithm constructs the road according to the road type, the road curvature and the road slope, and generates the obstacles in the road based on the static obstacle information, thereby constructing the static road map scene; inputting the dynamic traffic flow information into a traffic flow construction algorithm, the traffic flow construction algorithm analyzes the traffic flow type, the number and the traffic flow action in the road, and combines the vehicle dynamics model and the physical model to initialize the traffic flow action and control the traffic flow.

[0057] In the construction of the static road map scene and the dynamic traffic flow scene, the static road network information and the dynamic traffic flow information are subjected to cutting processing, the road segment information is cut off, and the corresponding traffic flow segment information is cut off; based on the cut-off road segment information, the static road map scene is constructed; and based on the cut-off traffic flow segment information, the dynamic traffic flow scene is constructed.

[0058] For example, the entire road network can be simulated according to the demand to generate a simulation scene with a length of 100 km, then a road with a length of 100 km is cut off to construct the static road map scene. Similarly, the corresponding traffic flow segment is cut off to construct the dynamic traffic flow scene.

[0059] S4, based on the constructed static road map scene and dynamic traffic flow scene, verifying the consistency and real-time of the traffic flow action to the road map.

[0060] As an embodiment, based on the constructed static road map scene and dynamic traffic flow scene, verifying the consistency and real-time of the traffic flow action to the road map, including: judging whether there is a traffic flow action corresponding to a special position in the static road map scene, if there is, the traffic flow action has consistency to the road map; on the basis that the traffic flow action has consistency to the road map, judging whether the corresponding traffic flow action occurs at the special position, if yes, the traffic flow action has real-time to the road map.

[0061] The consistency of the dynamic traffic flow action to the road map is determined according to a bend position in the static road map scene, and if the vehicle bend driving action exists in the dynamic traffic flow action, the dynamic traffic flow action is determined to have the consistency to the road map, otherwise, the dynamic traffic flow action does not have the consistency to the road map.

[0062] It can be understood that the above steps respectively construct the static road map scene and the dynamic traffic flow scene, and the consistency and real-time of the static road map scene and the dynamic traffic flow need to be verified. When verifying, the special scene position in the road can be used as a criterion, for example, the curved position on the road. For the curved position on the road, the vehicle will perform a turning action, so whether the dynamic traffic flow action has the consistency to the road map can be determined by judging whether the turning action exists in the dynamic traffic flow action of the vehicle.

[0063] On the basis of the consistency, whether the turning action of the vehicle occurs at the curved position of the road is judged, and specifically, whether the turning action of the vehicle occurs at the curved position of the road can be determined according to the dynamic motion information of the vehicle, such as the initial position of the vehicle on the road, the driving speed of the vehicle and the bend information of the vehicle. If the turning action of the vehicle occurs at the curved position of the road, it indicates that the dynamic traffic flow action has the real-time to the road map.

[0064] S5, when the verification is passed, the corresponding simulation scene is generated.

[0065] When the dynamic traffic flow action has the consistency and the real-time to the road map, the corresponding simulation scene is generated based on the static road map scene and the dynamic traffic flow scene, and the simulation test is performed.

[0066] Referring to Figure 2 The overall process of the simulation scene generation method for integrating the automobile driving use case mainly includes the following steps:

[0067] 1. After designing the function scene and the logic scene, the generalization of the scene is performed, a sufficient number of specific scenes are generated, and the table header is filled according to the test case design specification;

[0068] 2. The data in the table header is read, that is, each use case is analyzed, and the data is cut into static and dynamic data;

[0069] 3. encapsulating static information and cutting out segment road content to form road segment information, and generating a static road map scene based on the road segment information.

[0070] 4. encapsulating dynamic information and cutting out segment traffic flow content to form traffic flow segment information, and generating a dynamic traffic flow scene based on the traffic flow segment information.

[0071] 5. verifying consistency and real-time performance of the generated static road map scene and dynamic traffic flow scene, if correct, continue to generate a specific scene, if incorrect, return to 3, and the verification algorithm is automatically generalized to generate geometric data for verification.

[0072] Embodiment Two

[0073] An integrated simulation scene generation system for automobile driving use cases, referring to Figure 3 The simulation scene generation system mainly includes an acquisition module 31, an extraction module 32, a construction module 33, a verification module 34, and a generation module 35, wherein:

[0074] The acquisition module 31 is configured to acquire a specific use case list and analyze each specific use case data in the specific use case list.

[0075] The extraction module 32 is configured to extract static road network information and dynamic traffic flow information from each specific use case data.

[0076] The construction module 33 is configured to construct a static road map scene based on the static road network information, and construct a dynamic traffic flow scene based on the dynamic traffic flow information.

[0077] The verification module 34 is configured to verify consistency and real-time performance of traffic flow actions on a road map based on the constructed static road map scene and dynamic traffic flow scene.

[0078] The generation module 35 is configured to generate a corresponding simulation scene when the verification is passed.

[0079] It can be understood that the simulation scene generation system for integrated automobile driving use cases provided by the present application corresponds to the simulation scene generation method for integrated automobile driving use cases provided by the foregoing embodiments, and the related technical features of the simulation scene generation system for integrated automobile driving use cases can refer to the related technical features of the simulation scene generation method for integrated automobile driving use cases, which will not be repeated here.

[0080] Embodiment Three

[0081] Please refer to Figure 4 , Figure 4 The embodiment of the electronic device provided by the present application is shown in the following figure.Figure 4 As shown in the figure, the embodiment of the present application provides an electronic device 400, which comprises a memory 410, a processor 420, and a computer program 411 stored in the memory 410 and capable of running on the processor 420, and the processor 420 implements the steps of the simulation scene generation method for integrating the automobile driving use case according to the embodiment one when executing the computer program 411.

[0082] Embodiment four

[0083] Please refer to Figure 5 , Figure 5 An embodiment of a computer readable storage medium provided by the present application is shown. As Figure 5 shown, the embodiment provides a computer readable storage medium 500, which stores a computer program 511, and the computer program 511 implements the steps of the simulation scene generation method for integrating the automobile driving use case according to the embodiment one when executed by a processor.

[0084] The simulation scene generation method and generation system for integrating the automobile driving use case provided by the embodiment of the present application use two combined construction algorithms, i.e., the road construction algorithm and the traffic flow construction algorithm, which constantly exchange and verify data in the process of information extraction and scene construction, can quickly compare and verify the real-time and consistency of the traffic flow action on the map, improve the test success rate of the simulation scene, improve the work efficiency, and especially in a large number of generalized scenes.

[0085] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0086] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0087] The present application is described in reference to the flowchart and / or block diagrams of the methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart and / or block diagrams, and combinations of blocks in the flowchart and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0088] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0089] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart and / or block diagram block or blocks. Figure 1 one or more flowcharts and / or blocks Figure 1 one or more flowcharts and / or blocks

[0090] While preferred embodiments of the application have been described, it should be apparent that additional changes and modifications can be made to the application without departing from the spirit and scope of the application. It is the intention, therefore, to include by the appended claims any such modifications and variations as fall within the scope of the application.

[0091] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover the modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A method for generating a simulation scenario integrating automotive driving use cases, characterized in that, The method comprises the following steps: acquiring a specific use case list and analyzing each specific use case data in the specific use case list; extracting static road network information and dynamic traffic flow information in each specific use case data; constructing a static road map scene based on the static road network information and constructing a dynamic traffic flow scene based on the dynamic traffic flow information; verifying the consistency and real-time performance of traffic flow actions on a road map based on the constructed static road map scene and dynamic traffic flow scene; and generating a corresponding simulation scene when the verification is passed; The verification of the consistency and real-time performance of traffic flow actions on a road map based on the constructed static road map scene and dynamic traffic flow scene comprises the following steps: determining whether there is a traffic flow action corresponding to a special position in the static road map scene, and if there is, the traffic flow action has consistency with the road map; determining whether the corresponding traffic flow action occurs at the special position based on the consistency of the traffic flow action with the road map, and if so, the traffic flow action has real-time performance on the road map; determining whether there is a vehicle turning action in the traffic flow action based on a turning position in the static road map scene, and if so, determining that the traffic flow action has consistency with the road map, otherwise, the traffic flow action does not have consistency with the road map; and correspondingly, determining whether the corresponding traffic flow action occurs at the special position based on the consistency of the traffic flow action with the road map, and if so, the traffic flow action has real-time performance on the road map, which comprises the following steps: determining whether the turning action of the vehicle occurs at the turning position based on the motion information of the vehicle on the road map, and if so, determining that the traffic flow action has real-time performance on the road map, otherwise, the traffic flow action does not have real-time performance on the road map.

2. The simulation scene generation method of claim 1, wherein, The acquisition of the specific use case list further comprises the following steps: performing generalization work on the designed function scene and logic scene, generating a sufficient number of specific scenes, and filling the specific scenes into the table header according to the test case design specification to generate a specific use case list.

3. The method of claim 1, wherein, The construction of the static road map scene based on the static road network information; and the construction of the dynamic traffic flow scene based on the dynamic traffic flow information, which comprises the following steps: generating an xml simulation file based on the extracted specific use case data, drawing a matching OpenDRIVE map through the description of key fields of the map for the static road network information in the xml simulation file; determining whether an OpenSCENARIO file can be generated for the dynamic traffic flow information, and if so, generating a corresponding OpenSCENARIO file based on the dynamic traffic flow information; The construction of the dynamic traffic flow scene based on the OpenSCENARIO file or the xml file.

4. The simulation scene generation method of claim 3, wherein, The construction of the static road map scene based on the static road network information; and, based on the dynamic traffic flow information, constructing a dynamic traffic flow scene, including: inputting the static road network information into a road construction algorithm, the road construction algorithm constructing roads according to road types, road curvatures and road slopes, and generating obstacles in the roads based on static obstacle information, to construct a static road map scene; inputting the dynamic traffic flow information into a traffic flow construction algorithm, the traffic flow construction algorithm analyzing traffic flow types, quantities and actions in the roads, combining a vehicle dynamics model and a physical model, initializing traffic flow actions to control traffic flow.

5. The simulation scene generation method of claim 1 or 4, wherein, constructing a static road map scene based on the static road network information; and, based on the dynamic traffic flow information, constructing a dynamic traffic flow scene, including: performing cutting processing on the static road network information and the dynamic traffic flow information, to cut road segment information and corresponding traffic flow segment information; constructing a static road map scene based on the cut road segment information, and constructing a dynamic traffic flow scene based on the cut traffic flow segment information.

6. An integrated simulation scenario generation system for automotive driving use cases, characterized in that, including: an acquisition module, configured to acquire a specific use case list, and analyze each specific use case data in the specific use case list; an extraction module, configured to extract static road network information and dynamic traffic flow information in each specific use case data; a construction module, configured to construct a static road map scene based on the static road network information, and construct a dynamic traffic flow scene based on the dynamic traffic flow information; a verification module, configured to verify consistency and real-time performance of traffic flow actions on the road map based on the constructed static road map scene and dynamic traffic flow scene; and a generation module, configured to generate a corresponding simulation scene when the verification is passed. The consistency and real-time of the traffic flow action to the road map is verified based on the constructed static road map scene and dynamic traffic flow scene, comprising: judging whether there is a traffic flow action corresponding to a special position in the static road map scene, if there is, the traffic flow action has consistency to the road map; on the basis of the traffic flow action having consistency to the road map, judging whether the corresponding traffic flow action occurs at the special position, if yes, the traffic flow action has real-time to the road map; the judging whether there is a traffic flow action corresponding to a special position in the static road map scene, if there is, the traffic flow action has consistency to the road map, comprising: judging whether there is a vehicle curve driving action in the traffic flow action according to a curve position in the static road map scene, if there is, it is determined that the traffic flow action has consistency to the road map, otherwise, it does not have consistency; correspondingly, on the basis of the traffic flow action having consistency to the road map, judging whether the corresponding traffic flow action occurs at the special position, if yes, the traffic flow action has real-time to the road map, comprising: judging whether the curve driving action of the vehicle is at the curve position according to the motion information of the vehicle in the road map, if yes, it is determined that the traffic flow action has real-time to the road map, otherwise, it does not have real-time.

7. An electronic device, comprising: The computer management program is stored on the memory, and the processor is used to execute the computer management program stored in the memory to realize the steps of the integrated automobile driving use case simulation scene generation method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer management program is stored on the memory, and the processor is used to execute the computer management program stored in the memory to realize the steps of the integrated automobile driving use case simulation scene generation method according to any one of claims 1-5.

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