Intelligent driving simulation methods, systems, terminal devices and readable storage media

Abstract

The embodiment of the present application provides an intelligent driving simulation method, system, terminal device and readable storage medium. The intelligent driving simulation system obtains simulation test commands through a console module, determines the corresponding simulation module based on the simulation test commands, and the simulation module runs scene simulation and sensor simulation according to the simulation test commands to obtain corresponding sensor data. The interface simulation module outputs each sensor data to the controller under test according to the corresponding physical interface, so that the controller under test determines the corresponding control command based on the converted sensor data. The real-time processing module will load the vehicle dynamics model and receive the control command, execute the control command based on the vehicle dynamics model to obtain the corresponding vehicle state, and send the vehicle state to the simulation module for status update display. The present application is not only applicable to a variety of simulation test scenarios, but also can support the simultaneous testing of different types of controllers, which will reduce the test cycle and improve the test efficiency.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to an intelligent driving simulation method, system, terminal device and readable storage medium. Background Art

[0002] At present, simulation testing is an indispensable technical means to realize intelligent driving. The intelligent driving simulation test system generally simulates the vehicle by running the vehicle dynamics model through a real-time processor, and connects to the intelligent driving controller through various simulation interfaces to realize the system test of the intelligent driving controller. Local simulation has the problem of insufficient computing power and inability to realize accelerated testing. When testing high-level autonomous driving controllers above L2, a large number of scenarios need to be covered, which will lead to long test cycles and low efficiency. Cloud simulation has the problem of poor real-time performance. Summary of the invention

[0003] The object of the present invention is to provide an intelligent driving simulation system, method, terminal device and readable storage medium.

[0004] In a first aspect, the present invention provides an intelligent driving simulation system, the system comprising a simulation module, a console module, a real-time processing module, an interface simulation module and a total switching module;

[0005] The console module is used to obtain a simulation test command and determine a corresponding simulation module based on the simulation test command, wherein the simulation module includes a local simulation module and a cloud simulation module;

[0006] The simulation module is used to run the scene simulation and the sensor simulation according to the simulation test command, obtain the corresponding sensor data, and send the sensor data to the interface simulation module through the real-time processing module and the total switching module;

[0007] The interface simulation module is used to convert each sensor data according to the corresponding physical interface type, and send the converted sensor data to the controller under test, so that the controller under test determines the corresponding control command based on the converted sensor data;

[0008] The real-time processing module is used to load the vehicle dynamics model and receive the control command, and execute the control command based on the vehicle dynamics model to obtain the corresponding vehicle state, and send the vehicle state to the simulation module for state update display.

[0009] In an optional implementation, when the simulation module is a local simulation module, the total switching module includes a first switching module;

[0010] The console module is also used to construct the vehicle dynamics model and send the vehicle dynamics model to the real-time processing module through the first exchange module.

[0011] In an optional embodiment, when the simulation module is a cloud simulation module, the total switching module includes a first switching module and a second switching module;

[0012] The console module is also used to log in to the cloud simulation platform through the second exchange module, pre-build a scenario library and a test task on the cloud simulation platform according to the simulation test command, determine the scenario simulation corresponding to the test task in the scenario library, and build the vehicle dynamics model, and send it to the real-time processing module through the second exchange module and the first exchange module;

[0013] The cloud simulation module is used to run scenario simulation and sensor simulation based on the test task, obtain corresponding sensor data, and send the sensor data and the vehicle dynamics model to the interface simulation module through the second exchange module, the first exchange module and the real-time processing module.

[0014] In an optional embodiment, the system further includes a fault simulation module;

[0015] The fault simulation module is used to simulate various faults corresponding to the interfaces in the interface simulation module, and send any one or more of the various faults to the interface simulation module.

[0016] In an optional embodiment, the system further comprises:

[0017] The simulation module is also used to receive and store the task log during the simulation process, and after the simulation is completed, the simulation result can be viewed through the task log.

[0018] In an optional implementation, the interface simulation module includes any one or more of an FPD-Link interface, an Ethernet interface, a CAN interface, and a LIN interface.

[0019] In an optional implementation, determining the corresponding control command based on the converted sensor data includes:

[0020] Determine a corresponding perception result according to the converted sensor data;

[0021] Acquire the current vehicle state of the controller under test, and determine a planning result based on the perception result and the current vehicle state;

[0022] Determine the corresponding control commands based on the planning results.

[0023] In a second aspect, the present invention provides an intelligent driving simulation method, which is applied to an intelligent driving simulation system, wherein the system includes a simulation module, a console module, a real-time processing module, an interface simulation module, and a total switching module, and the method includes:

[0024] Acquire a simulation test command through the console module, and determine a corresponding simulation module based on the simulation test command, wherein the simulation module includes a local simulation module and a cloud simulation module;

[0025] Run the scene simulation and sensor simulation according to the simulation test command through the simulation module to obtain corresponding sensor data, and send the sensor data to the interface simulation module through the real-time processing module and the total switching module;

[0026] The interface simulation module converts each sensor data according to the corresponding physical interface type, and sends the converted sensor data to the controller under test, so that the controller under test determines the corresponding control command based on the converted sensor data;

[0027] The vehicle dynamics model is loaded and the control command is received through the real-time processing module, and the control command is executed based on the vehicle dynamics model to obtain the corresponding vehicle state, and the vehicle state is sent to the simulation module for state update display.

[0028] In a third aspect, the present invention provides a terminal device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the intelligent driving simulation method described in the aforementioned embodiment is executed.

[0029] In a fourth aspect, the present invention provides a readable storage medium storing a computer program, which executes the intelligent driving simulation method described in the aforementioned embodiment when running on a processor.

[0030] The beneficial effects of the embodiments of the present invention are:

[0031] The embodiment of the present application provides an intelligent driving simulation system, which includes a simulation module, a console module, a real-time processing module, an interface simulation module, a general switching module and a controller under test. The console module obtains a simulation test command, determines the corresponding simulation module based on the simulation test command, and the simulation module runs a scene simulation and a sensor simulation according to the simulation test command to obtain corresponding sensor data. The interface simulation module converts each sensor data according to the corresponding physical interface type so that the controller under test determines the corresponding control command based on the converted sensor data. The real-time processing module loads a vehicle dynamics model and receives a control command, and executes the control command based on the vehicle dynamics model to obtain the corresponding vehicle state, and sends the vehicle state to the simulation module for status update display. The present application is not only applicable to a variety of simulation test scenarios, but also can support simultaneous testing of different types of controllers, which will reduce the test cycle and improve test efficiency.

[0032] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection of the present invention. In each of the drawings, similar components are numbered similarly.

[0034] Figure 1 A first structural schematic diagram of an intelligent driving simulation system proposed in an embodiment of the present application is shown;

[0035] Figure 2 A schematic diagram of a flow chart of a simulation method in an intelligent driving simulation system proposed in an embodiment of the present application is shown;

[0036] Figure 3 A schematic diagram of the structure of a local simulation in an intelligent driving simulation system proposed in an embodiment of the present application is shown;

[0037] Figure 4 A schematic diagram of the structure of cloud simulation in an intelligent driving simulation system provided in an embodiment of the present application is shown;

[0038] Figure 5 A schematic diagram of a process of cloud simulation testing in an intelligent driving simulation system proposed in an embodiment of the present application is shown;

[0039] Figure 6 A schematic diagram of a process for generating control commands by a controller under test in an intelligent driving simulation system proposed in an embodiment of the present application is shown;

[0040] Figure 7 A second structural schematic diagram of an intelligent driving simulation system proposed in an embodiment of the present application is shown;

[0041] Figure 8 A flow chart of an intelligent driving simulation method proposed in an embodiment of the present application is shown.

[0042] Description of main component symbols:

[0043] 100-intelligent driving simulation system; 110-simulation module; 111-local simulation module; 112-cloud simulation module; 120-console module; 130-real-time processing module; 140-interface simulation module; 150-general switching module; 151-first switching module; 152-second switching module; 160-tested controller; 161-perception unit; 162-decision-making unit; 163-control unit; 170-fault simulation module. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0045] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0046] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present invention, are intended only to indicate specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items.

[0047] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0048] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present invention belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present invention.

[0049] Example 1

[0050] Please refer to Figure 1 An embodiment of the present application proposes a structural schematic diagram of an intelligent driving simulation system 100. Exemplarily, the intelligent driving simulation system 100 includes a simulation module 110, a console module 120, a real-time processing module 130 and an interface simulation module 140.

[0051] Based on the structure of the above-mentioned intelligent driving simulation system 100, the intelligent driving simulation test implemented by the intelligent driving simulation system 100 of the embodiment of the present application is described as follows: Figure 2 As shown, it includes steps S100 to S400.

[0052] Step S100 : the console module 120 obtains a simulation test command, and determines a corresponding simulation module 110 based on the simulation test command. The simulation module 110 includes a local simulation module 111 and a cloud simulation module 112 .

[0053] In the implementation of this application, the console module 120 will obtain the simulation test command input by the user, which includes the simulation test method and the driving level of the autonomous driving vehicle to be tested. Different driving levels of autonomous driving vehicles correspond to different simulation test methods, and each simulation test method corresponds to a simulation module 110. The console module 120 will also configure the hardware corresponding to each simulation interface in the simulation interface module, automate the test process, and realize test data processing. The test data processing includes but is not limited to the recording of raw data, the analysis and export of test results, etc. Among them, the simulation module 110 includes a local simulation module 111 and a cloud simulation module 112. The driving levels of the autonomous driving vehicle include L0~L5. The driving levels of L2 and below are assisted driving, and the driving levels above L2 are high-order autonomous driving. Assisted driving will use local simulation tests, and high-order autonomous driving will use cloud simulation tests. In other words, when the test command is a local simulation test or the input driving level is L2 and below, the corresponding simulation module 110 is determined to be the local simulation module 111. When the test command is a cloud simulation test or the input driving level is above L2, the simulation module 110 corresponding to the simulation test command is the cloud simulation module 112.

[0054] Step S200 : the simulation module 110 runs the scene simulation and the sensor simulation according to the simulation test command, obtains the corresponding sensor data, and sends the sensor data to the interface simulation module 140 through the real-time processing module 130 .

[0055] It is understandable that after determining the corresponding simulation module 110, the simulation module 110 will select the corresponding scene simulation from the pre-set scene library according to the simulation test command, and perform sensor simulation according to the vehicle-mounted sensor parameters under the scene simulation, so as to obtain corresponding at least one sensor data, and send the obtained sensor data to the interface simulation module 140 through the real-time processing module 130 and the total exchange module 150. Among them, the simulation test command includes the test requirements, that is, the type of test vehicle, the test environment, the test map and other information. The corresponding sensor parameters can be determined according to the type of vehicle. The simulation scene includes the map, road, vehicle, pedestrian, traffic sign and weather simulation scenes; the simulation sensor includes camera, millimeter wave radar, laser radar, ultrasonic wave, GPS (Global Positioning System) and IMU (Inertial Measurement Unit) simulation, etc.; the total exchange module 150 includes a first exchange module 151 and a second exchange module 152. For example, when simulating a camera sensor, the image resolution, image format, frame rate, etc. corresponding to the camera sensor will be set, and the simulation will be performed according to the image resolution, image format, frame rate, etc. during the simulation.

[0056] In one embodiment, when the simulation module 110 is a local simulation module 111, a structure of the intelligent driving simulation system 100 is as follows: Figure 3 As shown, the total switching module 150 includes a first switching module 151 .

[0057] The console module 120 will build a vehicle dynamics model library based on the simulation test command through software, such as CarSim software. The vehicle dynamics model library includes at least one vehicle dynamics model. Different test vehicle types correspond to different vehicle dynamics models. Building a vehicle dynamics model library is a common method and will not be described in detail here. The console module 120 will send the vehicle dynamics model, that is, the file including the vehicle dynamics model, to the first exchange module 151, and then forward it to the real-time processing module 130 through the first exchange module 151. Among them, the first exchange module 151 is used to realize data exchange between different devices in the intranet, for example, between the console module 120 and the real-time processing module 130.

[0058] In one embodiment, when the simulation test module is the cloud simulation module 112, a structure of the intelligent driving simulation system 100 is as follows: Figure 4As shown, the total switching module 150 includes a first switching module 151 and a second switching module 152. Figure 5 As shown, the cloud simulation test process also includes steps S500 to S600.

[0059] Step S500: The console module 120 logs in to the cloud simulation platform through the second exchange module 152, pre-builds a scenario library and test tasks on the cloud simulation platform according to the simulation test command, determines the scenario simulation corresponding to the test task in the scenario library, and builds a vehicle dynamics model, which is sent to the real-time processing module 130 through the second exchange module 152 and the first exchange module 151.

[0060] It is understandable that when the simulation test module is determined to be the cloud simulation module 112, the console module 120 will log in to the cloud simulation platform through the second exchange module 152. The simulation test command also includes test requirements, which can be functional requirements or user requirements, etc. The cloud simulation platform pre-creates the scene library and corresponding test tasks required for the cloud simulation test according to the simulation test command. In other words, the corresponding simulation scenes are pre-built according to the test requirements, that is, different maps, environments, and dynamic scenes, etc. The scene library includes a variety of scene simulations, and the corresponding scene simulation in the scene library can be determined according to the test task. The console module 120 will also build the corresponding vehicle dynamics model through software according to the test requirements. Building a vehicle dynamics model is a common method and will not be described in detail here. The console module 120 will send the vehicle dynamics model to the real-time processing module 130 through the second exchange module 152 and the first exchange module 151.

[0061] Among them, when conducting cloud simulation testing, vehicles will be added according to actual vehicle information. The vehicle information includes vehicle sensor parameters, and a new scenario library that meets the test requirements is created based on the newly added test vehicle information, map, environment, dynamic scene and traffic flow, and a test task is created. The test task includes but is not limited to task content, vehicle type, test map, test environment and dynamic scene, etc. Each test task has multiple scenarios. For example, the test task can be a vehicle following task. When it is a vehicle following task, there are multiple scenarios, such as when the vehicle starts and when the vehicle drives to the intersection. For example, when the tester is going to test type A vehicle, the test task will include testing type A vehicle. Among them, the second exchange module 152 is used for interaction between different devices in the intranet and the extranet, for example, data interaction between the console module 120 and the cloud simulation platform.

[0062] Step S600: The cloud simulation module 112 runs scenario simulation and sensor simulation based on the test task, obtains corresponding sensor data, and sends the sensor data and vehicle dynamics model to the interface simulation module 140 through the second exchange module 152, the first exchange module 151 and the real-time processing module 130.

[0063] The cloud simulation module 112 includes a management unit and a simulation test unit. The management unit manages vehicle resources and scene resources. Vehicle resources include vehicle dynamics models and vehicle sensors; scene resources include maps, environments (weather, lighting) and dynamic scenes. The simulation test module runs scene simulation and sensor simulation based on test tasks.

[0064] When the simulation module 110 is a cloud simulation module 112, the cloud simulation module 112 will receive the test task newly created by the console module 120 through the second exchange module 152 and the determined scenario simulation, and perform scenario simulation based on the simulation scenario, thereby executing the corresponding test task under the simulation scenario, that is, performing sensor simulation based on the above-mentioned vehicle-mounted sensor parameters under the simulation scenario, and obtaining sensor data corresponding to each sensor simulation. The cloud simulation module 112 will send the sensor data to the interface simulation module 140 through the real-time processing module 130, the second exchange module 152 and the first exchange module 151.

[0065] Step S300: the interface simulation module 140 converts each sensor data according to the corresponding physical interface type, and sends the converted sensor data to the controller under test 160, so that the controller under test 160 determines the corresponding control command based on the converted sensor data.

[0066] In the implementation of the present application, the interface simulation module 140 includes a camera GMSL (Gigabit Multimedia Serial Links) interface and an FPD-Link (Flat Panel Display Link) interface, an Ethernet interface, a CAN (Controller Area Network) interface, a LIN (Local Interconnect Network) interface, an RS232 interface bottom layer protocol, and analog digital IO and analog IO interfaces, etc. Different sensor data correspond to different types. When the sensor data is sent to the controller under test 160, it is necessary to determine the corresponding physical interface type according to the sensor data, and perform physical interface conversion on the sensor data according to the physical interface type, that is, convert the simulated software signal into a physical layer signal. For example, if the sensor data is obtained by camera sensor simulation, the sensor data can be converted according to the camera GMSL interface, and the converted sensor data can be sent to the controller under test 160.

[0067] The controller under test 160 is the controller of the vehicle under test. After receiving the converted sensor data, the controller under test 160 will perceive and judge the sensor data, generate corresponding control commands after decision planning, and send the control commands to the real-time processing module 130.

[0068] In one embodiment, the controller under test 160 includes a sensing unit 161, a decision unit 162 and a control unit 163. Figure 6 As shown, determining a corresponding control command based on the converted sensor data includes sub-steps S310 to S330.

[0069] Sub-step S310: Determine the corresponding perception result according to the converted sensor data.

[0070] It is understandable that the perception unit 161 includes a preset sensor database, which includes multiple preset sensor data and multiple preset perception results, wherein any preset sensor data or multiple sensor data combinations correspond to a preset perception result. After receiving the converted sensor data, the perception unit 161 of the controller under test 160 will determine the perception result corresponding to the sensor data according to the preset sensor database. For example, if the image obtained by the camera sensor is a traffic sign, different traffic signs are preset to correspond to straight ahead and left turn, respectively. When the traffic sign corresponding to the sensor data is straight ahead, the corresponding perception result is straight ahead.

[0071] Sub-step S320: Obtain the current vehicle state of the controller under test 160, and determine the planning result based on the perception result and the current vehicle state.

[0072] The decision unit 162 of the controller under test 160 will also obtain the current vehicle state of the vehicle of the controller under test 160, and determine the corresponding planning result from the preset planning database according to the current vehicle state and the perception result. There is a corresponding planning result for each combination of the current vehicle state and each perception result in the preset planning database.

[0073] Sub-step S330: Determine corresponding control commands according to the planning results.

[0074] The control unit 163 of the controller under test 160 will determine the corresponding control command through the corresponding control algorithm according to the obtained planning result. The control algorithm is not the focus of this application and will not be described in detail here. For example, when the planning result is to drive forward, the control algorithm will be used to determine the specific execution content of the planning result to be executed by the vehicle from the current posture, such as the vehicle's driving speed, driving direction, etc., which is the control command.

[0075] Step S400: The real-time processing module 130 loads the vehicle dynamics model and receives the control command, executes the control command based on the vehicle dynamics model, obtains the corresponding vehicle state, and sends the vehicle state to the simulation module 110 for state update display.

[0076] In the embodiment of the present application, the real-time processing module 130 will load the vehicle dynamics model constructed by the console, that is, receive and load the file with the vehicle dynamics model, parse the file of the vehicle dynamics model to determine the data included therein, and execute the received control command according to the vehicle dynamics model to obtain the corresponding vehicle state, update the current vehicle state according to the obtained vehicle state, and send the vehicle state to the simulation module 110 through the total exchange module 150. The simulation module 110 will update the status display according to the received vehicle state, that is, update the vehicle state in the virtual simulation environment. Among them, the vehicle state includes the position, posture and speed of the vehicle.

[0077] It is understandable that the simulation module 110 will receive and store information such as task logs, task scores, and video data during the above simulation process, and after the simulation is completed, the simulation results will be viewed through the recorded relevant information, i.e., through task logs and video data playback.

[0078] In one embodiment, Figure 7 As shown in the structure of the intelligent driving simulation system 100 , the intelligent driving simulation system 100 also includes a fault simulation module 170 .

[0079] The fault simulation module 170 will simulate various faults corresponding to each interface in the above-mentioned simulation module. In other words, one interface corresponds to at least one fault type, and any one or more of the various faults are sent to the interface simulation module 140, that is, the interface simulation module 140 is fault injected, and the interface simulation module 140 will determine the corresponding interface according to at least one fault received, and the interface simulation will generate the corresponding fault. Among them, the fault simulation module 170 is used to simulate the open circuit, disconnection, short circuit between pins, power supply short circuit, ground short circuit and open circuit faults of the analog interface.

[0080] Cloud simulation can greatly improve the efficiency of simulation testing by virtue of its distributed architecture and parallel accelerated computing capabilities, and it is easy to connect to the big data platform, but its real-time performance is poor. In this application, for L2 and below assisted driving, local simulation testing can be selected due to limited applicable scenarios; for L2 and above autonomous driving, cloud simulation testing will be selected due to the massive and complex scenarios. In this application, different types of controllers can be supported for testing at the same time, which will reduce the test cycle and improve test efficiency.

[0081] Based on the intelligent driving simulation system 100 of the above embodiment, Figure 8 An intelligent driving simulation method provided by an embodiment of the present application is shown, which is applied to an intelligent driving simulation system, wherein the system includes a simulation module, a console module, a real-time processing module, an interface simulation module and a general switching module. The method includes steps S10 to S40.

[0082] Step S10: Acquire a simulation test command through the console module 120 , and determine the corresponding simulation module 110 based on the simulation test command. The simulation module 110 includes a local simulation module 111 and a cloud simulation module 112 .

[0083] Step S20 : ​​The simulation module 110 runs the scene simulation and the sensor simulation according to the simulation test command to obtain corresponding sensor data, and sends the sensor data to the interface simulation module 140 through the real-time processing module 130 and the main switching module 150 .

[0084] Step S30: converting each sensor data according to the corresponding physical interface type through the interface simulation module 140, and sending the converted sensor data to the controller under test 160, so that the controller under test 160 determines the corresponding control command based on the converted sensor data.

[0085] Step S40: The vehicle dynamics model is loaded and the control command is received through the real-time processing module 130, and the control command is executed based on the vehicle dynamics model to obtain the corresponding vehicle state, and the vehicle state is sent to the simulation module 110 for state update display.

[0086] It can be understood that the method steps of this embodiment correspond to the corresponding functions of the intelligent driving simulation system 100 in the above embodiment, wherein the optional options of the above intelligent driving simulation system 100 are also applicable to the method of this embodiment and will not be repeated here.

[0087] An embodiment of the present application also provides a terminal device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the above-mentioned intelligent driving simulation method is executed.

[0088] An embodiment of the present application also provides a computer-readable storage medium storing a computer program. When the computer program is executed on a processor, the above-mentioned intelligent driving simulation method is implemented.

[0089] In several embodiments provided in the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the structure diagram and / or the flow chart, and the combination of boxes in the structure diagram and / or the flow chart, can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0090] In addition, the functional modules or units in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0091] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0092] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An intelligent driving simulation system, characterized in that: The system includes a simulation module, a console module, a real-time processing module, an interface simulation module and a total switching module; The console module is used to obtain a simulation test command and determine a corresponding simulation module based on the simulation test command, wherein the simulation module includes a local simulation module and a cloud simulation module; The simulation module is used to run the scene simulation and the sensor simulation according to the simulation test command, obtain the corresponding sensor data, and send the sensor data to the interface simulation module through the real-time processing module and the total switching module; The interface simulation module is used to convert each sensor data according to the corresponding physical interface type, and send the converted sensor data to the controller under test, so that the controller under test determines the corresponding control command based on the converted sensor data; The real-time processing module is used to load the vehicle dynamics model and receive the control command, and execute the control command based on the vehicle dynamics model to obtain the corresponding vehicle state, and send the vehicle state to the simulation module for state update display; Wherein, when the simulation module is a cloud simulation module, the total switching module includes a first switching module and a second switching module; The console module is also used to log in to the cloud simulation platform through the second exchange module, pre-build a scenario library and a test task on the cloud simulation platform according to the simulation test command, determine the scenario simulation corresponding to the test task in the scenario library, and build the vehicle dynamics model, and send it to the real-time processing module through the second exchange module and the first exchange module; The cloud simulation module is used to run scenario simulation and sensor simulation based on the test task, obtain corresponding sensor data, and send the sensor data to the interface simulation module through the second switching module, the first switching module and the real-time processing module.

2. The intelligent driving simulation system according to claim 1, characterized in that: When the simulation module is a local simulation module, the total switching module includes a first switching module; The console module is also used to construct the vehicle dynamics model and send the vehicle dynamics model to the real-time processing module through the first exchange module.

3. The intelligent driving simulation system according to claim 1, characterized in that: The system also includes a fault simulation module; The fault simulation module is used to simulate various faults corresponding to the interfaces in the interface simulation module, and send any one or more of the various faults to the interface simulation module.

4. The intelligent driving simulation system according to claim 1, characterized in that: The system further comprises: The simulation module is also used to receive and store the task log during the simulation process, and after the simulation is completed, the simulation result can be viewed through the task log.

5. The intelligent driving simulation system according to claim 1, characterized in that: The interface simulation module includes any one or more of an FPD-Link interface, an Ethernet interface, a CAN interface and a LIN interface.

6. The intelligent driving simulation system according to claim 1, characterized in that: The determining of the corresponding control command based on the converted sensor data comprises: Determine a corresponding perception result according to the converted sensor data; Acquire the current vehicle state of the controller under test, and determine a planning result based on the perception result and the current vehicle state; Determine the corresponding control commands based on the planning results.

7. An intelligent driving simulation method, characterized in that: Applied to an intelligent driving simulation system, the system includes a simulation module, a console module, a real-time processing module, an interface simulation module and a total switching module, and the method includes: Acquire a simulation test command through the console module, and determine a corresponding simulation module based on the simulation test command, wherein the simulation module includes a local simulation module and a cloud simulation module; Run the scene simulation and sensor simulation according to the simulation test command through the simulation module to obtain corresponding sensor data, and send the sensor data to the interface simulation module through the real-time processing module and the total switching module; The interface simulation module converts each sensor data according to the corresponding physical interface type, and sends the converted sensor data to the controller under test, so that the controller under test determines the corresponding control command based on the converted sensor data; The vehicle dynamics model is loaded and the control command is received through the real-time processing module, and the control command is executed based on the vehicle dynamics model to obtain a corresponding vehicle state, and the vehicle state is sent to the simulation module for state update and display; Wherein, when the simulation module is a cloud simulation module, the total switching module includes a first switching module and a second switching module; The console module is also used to log in to the cloud simulation platform through the second exchange module, pre-build a scenario library and a test task on the cloud simulation platform according to the simulation test command, determine the scenario simulation corresponding to the test task in the scenario library, and build the vehicle dynamics model, and send it to the real-time processing module through the second exchange module and the first exchange module; The cloud simulation module is used to run scenario simulation and sensor simulation based on the test task, obtain corresponding sensor data, and send the sensor data to the interface simulation module through the second switching module, the first switching module and the real-time processing module.

8. A terminal device, characterized in that: It comprises a memory and a processor, the memory stores a computer program, and the computer program executes the intelligent driving simulation method according to claim 7 when running on the processor.

9. A readable storage medium, characterized in that: It stores a computer program, which executes the intelligent driving simulation method according to claim 7 when running on a processor.

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