Vehicle simulation system, method, and storage medium

Abstract

The application relates to the field of automobile digital twinning technology, in particular to a vehicle simulation system and method and a storage medium, which comprise a vehicle display end configured to display a current state of a vehicle; a vehicle service simulation end configured to simulate a service of the vehicle and publish the service to a service bus of the vehicle; and in the case that the service is called, the vehicle service simulation end sends information of the called service to the vehicle display end to change the displayed state of the vehicle. Thus, the problems that in the prior art, in the case that a counterpart tool is missing or a function on the counterpart tool is not developed, normal publishing and subscribing of the service cannot be realized, and thus the smooth development and testing of software functions cannot be ensured, are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile digital twinning, and in particular to a vehicle simulation system and method and a storage medium. BACKGROUND

[0002] With the vigorous development of the automobile industry, vehicles with intelligent functions are attracting more and more attention and favor. This is mainly due to the fact that such vehicles provide a large number of rich and practical functions, and the ability to quickly develop and iterate new functions has become an important competitive point for manufacturers.

[0003] In related technologies, the functions of different components inside a vehicle are simulated using simulation. However, this is only a one-way simulation of the functions, which is a function verification, and is not used to provide adversary service to the software that needs to be developed and verified. Moreover, the functions of a car are actually the operation of hardware by individual software, and the software is composed of individual services. Only by simulating from the perspective of services can each function be truly simulated. However, just simulating services cannot perceive the effects. SUMMARY

[0004] The present application provides a vehicle simulation system and method and a storage medium to solve the problem that in related technologies, the normal publication and subscription of services cannot be achieved in the case of missing adversary or uncompleted development of adversary services, thereby ensuring the smooth development and testing of software functions.

[0005] The first aspect of the present application provides a vehicle simulation system, comprising: a vehicle display end configured to display the current state of a vehicle; a vehicle service simulation end configured to simulate the services of the vehicle and publish them to the service bus of the vehicle; in the case that the services are called, the vehicle service simulation end sends the information of the called services to the vehicle display end to change the displayed state of the vehicle.

[0006] According to the above technical means, the embodiments of the present application can simulate the services of the vehicle and publish them to the bus for calling, and can display the change in the state of the vehicle after the services are called. In the case of missing adversary or uncompleted development of adversary services or unavailability of adversary services, the simulation of adversary services by the digital twinning simulation system can achieve the normal publication and subscription of services, thereby ensuring the smooth development and testing of software functions.

[0007] Optionally, the vehicle display end displays the state of the vehicle by displaying a three-dimensional model of the vehicle. In the case that the three-dimensional model receives an input operation, the three-dimensional model is operated according to the input operation, and the display state of the components of the three-dimensional model is controlled.

[0008] According to the technical means, the vehicle receives the input operation through the three-dimensional model, controls the components of the three-dimensional model according to the input content, changes the display state of the three-dimensional model, and presents the changed display state on the vehicle display end, so that the user can intuitively observe the influence of the development software on the vehicle.

[0009] Optionally, the vehicle display end comprises a three-dimensional model management module configured to manage the three-dimensional model and bind the three-dimensional model with a digital model of the vehicle, wherein the components of the three-dimensional model are bound with digital components of the digital model of the vehicle one by one, and the display state of the components of the three-dimensional model is bound with state information of the digital components.

[0010] According to the technical means, the three-dimensional model management module is configured to bind the three-dimensional model with the digital model of the vehicle, so that the components are bound one by one, and the display state of the components of the three-dimensional model is bound with the state information of the digital components, thereby realizing the effect that the virtual model is consistent with the real vehicle state.

[0011] Optionally, the vehicle display end further comprises a display end simulation module, a distribution module, an instance module, and a reconstruction module, wherein, when the three-dimensional model receives an input operation, the three-dimensional model management module is configured to process the input operation to generate a control instruction, and send the control instruction to the reconstruction module, wherein the control instruction corresponds to calling information of the service; the reconstruction module forwards the control instruction to the instance module, the instance module forwards the control instruction to the display end simulation module; the display end simulation module generates first state information according to the control instruction, and sends the first state information to the distribution module, wherein the distribution module is configured to distribute the first state information to corresponding instances in the instance module, wherein the instances and the digital components correspond one by one, and the instance module is configured to send second state information of the instance whose state has changed to the reconstruction module, and the reconstruction module sends the second state information to the three-dimensional model management module to control the display state of the three-dimensional model.

[0012] According to the technical means, the display state can be changed through the input operation, and the three-dimensional model management module, the simulation module, the distribution module, the instance module, and the reconstruction module of the vehicle interact with each other, so that the service calling end can subscribe to the event and the notification when the opponent does not exist or the opponent's notification or event service is not developed.

[0013] Optionally, the display end simulation module is further configured to generate notification information and / or event information according to the control instruction, and send the notification information and / or the event information to the vehicle service simulation end, and the vehicle service simulation end publishes the notification information and / or the event information to the service bus.

[0014] According to the technical means, the display terminal simulation module can not only receive the control instruction, generate corresponding notification information and / or event information, and send it to the vehicle service simulation terminal, but also convert the state sent by the cloud three-dimensional model reconstruction module into notification or event and then send it to the service bus, so as to facilitate the opponent document service user to receive the notification to perform the next action.

[0015] Optionally, the service client is further configured to listen to the notification information and / or the event information.

[0016] According to the technical means, the service client of the embodiment of the application can listen to the notification information and / or the event information, and when the opponent document does not exist or the opponent document notification or event service is not developed, the event and notification subscription can also be performed, so that the opponent document service user can normally perform the function iteration development and verification.

[0017] Optionally, the vehicle display terminal further comprises a display terminal simulation module, a distribution module, an instance module and a reconstruction module, when the service called by the vehicle service simulation terminal is published, the vehicle service simulation terminal is configured to process the calling information of the service into simulated services, methods and parameters, and send them to the display terminal simulation module, the display terminal simulation module is configured to generate third state information according to the simulated services, methods and parameters, and send them to the distribution module; the distribution module is configured to distribute the third state information to the corresponding instance in the instance module, the instance and the digital component are one-to-one corresponding, the instance module is configured to send the fourth state information of the instance whose state has changed to the reconstruction module, and the reconstruction module sends the fourth state information to the three-dimensional model management module to control the display state of the three-dimensional model.

[0018] According to the technical means, the embodiment of the application controls the display terminal by calling the service through the vehicle terminal module, and utilizes the interaction among the three-dimensional model management module, the simulation module, the distribution module, the instance module and the reconstruction module of the vehicle, when the opponent document does not exist or the opponent document service is not developed, the simulated service of the digital twin vehicle terminal engine is called, and the digital twin vehicle terminal engine will operate the reconstructed vehicle twin body in the digital twin display terminal to make the action consistent with the actual hardware action.

[0019] Optionally, the three-dimensional model management module is further configured to render the three-dimensional model to display the animation of the switching of the display state of the corresponding component in the three-dimensional model, and display the switched display state.

[0020] According to the technical means, the three-dimensional model management module in the embodiment of the application realizes the animation display when the state changes by adding rendering, so that the user can intuitively observe the state exhibited by the development software in the process of the vehicle.

[0021] Optionally, the system further comprises a service middleware, configured to manage the service.

[0022] According to the technical means, the embodiment of the application can realize the management of the service through the SOA service middleware.

[0023] Optionally, when the service configuration of the service to be simulated is received, the service to be simulated is simulated according to the service configuration and published to the service bus.

[0024] According to the technical means, the embodiment of the application only performs service configuration on the service to be simulated which is not developed or has no corresponding counterpart of the vehicle, then simulates the service according to the service configuration and publishes it to the service bus, so as to facilitate the subsequent simulation of the counterpart service, thereby enabling the counterpart service user to normally perform the function iteration development and verification.

[0025] The second aspect of the application provides a vehicle simulation method, comprising: simulating a service of a vehicle and publishing it to a service bus of the vehicle; and when the service is called, changing the displayed state of the vehicle according to information of the called service.

[0026] The third aspect of the application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the vehicle simulation method according to the above embodiments.

[0027] Therefore, the application has at least the following beneficial effects:

[0028] (1) The embodiment of the application can simulate the service of the vehicle and publish it to the bus for calling, and can display the change of the state of the vehicle after the service is called. In the case that the counterpart is missing or the counterpart service is not developed or the counterpart service is not available, the simulation of the counterpart service is realized through the digital twin simulation system, the normal publication and subscription of the service are realized, and the smooth development and testing of the software function are ensured.

[0029] (2) The embodiment of the application receives the input operation through the three-dimensional model of the vehicle, controls the components of the three-dimensional model according to the input content, realizes the change of the display state of the three-dimensional model and presents it on the vehicle display, so that the user can intuitively observe the impact of the development software on the vehicle.

[0030] (3) The three-dimensional model management module in the embodiment of the present application is used to realize the binding of the three-dimensional model and the digital model of the vehicle, so that the components are correspondingly bound, and after the binding, the digital twin is obtained. Then, the display state of the components of the three-dimensional model is bound to the state information of the digital components, so as to realize the effect that the virtual model is consistent with the real vehicle state.

[0031] (4) The embodiment of the present application can change the display state through input operation, and through the interaction among the three-dimensional model management module, the simulation module, the distribution module, the instance module and the reconstruction module of the vehicle, the service calling end can also subscribe to the events and notifications when the counterpart does not exist or the counterpart notification or event service is not developed.

[0032] (5) The display end simulation module in the embodiment of the present application can not only receive the control instruction to generate corresponding notification information and / or event information and send it to the vehicle service simulation end, but also can convert the state sent by the cloud three-dimensional model reconstruction module into notification or event and then send it to the service bus, so as to facilitate the counterpart service user to receive the notification to perform the next action.

[0033] (6) The service client of the embodiment of the present application can listen to the notification information and / or event information, and can also subscribe to the events and notifications when the counterpart does not exist or the counterpart notification or event service is not developed, so that the counterpart service user can normally perform the function iterative development and verification.

[0034] (7) The embodiment of the present application controls the display end by calling the service through the vehicle end module, and through the interaction among the three-dimensional model management module, the simulation module, the distribution module, the instance module and the reconstruction module of the vehicle, when the counterpart does not exist or the counterpart service is not developed and cannot publish the service to the bus, the simulation service of the digital twin vehicle end engine is called, and the digital twin vehicle twin body in the reconstruction of the digital twin display end is operated to make the action consistent with the actual hardware action.

[0035] (8) The three-dimensional model management module in the embodiment of the present application realizes the animation display when the state changes through the increase of rendering, so that the user can intuitively observe the state exhibited in the process of the development software to the vehicle.

[0036] (9) The embodiment of the present application can realize the management of the service through the SOA service middleware.

[0037] (10) The embodiment of the present application only configures the service for the to-be-simulated service which is not developed or has no corresponding counterpart of the vehicle, then simulates the service according to the service configuration and publishes it to the service bus, so as to facilitate the subsequent simulation of the counterpart service, so that the counterpart service user can normally perform the function iterative development and verification.

[0038] Additional aspects and advantages of the present application will be apparent from the following description, taken in conjunction with the accompanying drawings, illustrating by way of example the principles of the application. BRIEF DESCRIPTION OF DRAWINGS

[0039] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, taken in conjunction with the accompanying drawings, in which:

[0040] Figure 1 A framework diagram of a vehicle simulation system according to an embodiment of the present application;

[0041] Figure 2 A functional diagram of a simulation system according to an embodiment of the present application;

[0042] Figure 3 A 3D model and animation, instruction binding flowchart of a simulation system according to an embodiment of the present application;

[0043] Figure 4 A simulation service configuration flowchart of a simulation system according to an embodiment of the present application;

[0044] Figure 5 A simulation opponent tool service call flowchart of a simulation system according to an embodiment of the present application;

[0045] Figure 6 A display end service call event notification flowchart of a simulation system according to an embodiment of the present application;

[0046] Figure 7 A flowchart of a vehicle simulation method according to an embodiment of the present application. DETAILED DESCRIPTION

[0047] Embodiments of the present application are described in detail below with reference to the attached drawings, which show by way of example, embodiments in which like reference numerals refer to like elements or elements having similar functions. The embodiments described below are examples intended to explain the present application, and are not to be understood as limiting the present application.

[0048] With the booming development of the automotive industry, intelligent cars are receiving more and more attention and favor. This is mainly due to the fact that such cars provide a large number of rich and practical functions, and the ability to quickly develop and iterate new functions has become an important competitive point for manufacturers. However, there is still a common pain point in the process of developing and iterating new functions by manufacturers: the strong coupling between software services and hardware causes the debugging, testing, and verification of newly developed software to be hindered in the case of missing opponent tools or incomplete development of functions on opponent tools.

[0049] In the related art, the functions of different accessories inside a vehicle are simulated by means of simulation, but the test is completed by means of one-way simulation of the functions, which belongs to function verification and is not used for providing adversary service to the software to be developed and verified. The functions of the vehicle are actually completed by software operating hardware in the hardware, and the software is composed of services. Only from the perspective of services can each function be simulated truly. However, the simulation of services cannot perceive the effect, and the same reaction or action of the real vehicle after the service is called needs to be shown by combining the 3D digital twin model of the vehicle.

[0050] To overcome the above problems, the embodiment of the present application is based on the original service publishing and subscribing process. In the case that the adversary service is missing or the adversary service is not developed or the adversary service is not available, the adversary service is simulated by means of the digital twin simulation system, the normal publishing and subscribing of the service are realized, and the smooth development and test of the software functions are ensured.

[0051] The vehicle simulation system, method and storage medium of the embodiment of the present application are described below with reference to the accompanying drawings.

[0052] Specifically, Figure 1 A framework diagram of a vehicle simulation system provided by the embodiment of the present application is shown in FIG. 1.

[0053] As Figure 1 shown, the vehicle simulation system 10 includes a vehicle display end 100 and a vehicle service simulation end 200.

[0054] The vehicle display end 100 is configured to display the current state of the vehicle, and the vehicle service simulation end 200 is configured to simulate the service of the vehicle and publish it to the service bus of the vehicle. In the case that the service is called, the vehicle service simulation end 200 sends the information of the called service to the vehicle display end 100 to change the displayed state of the vehicle.

[0055] The vehicle display end can be a cloud, a terminal connected to the vehicle, or even a master control end of the vehicle, which is not limited here.

[0056] The vehicle service simulation end can simulate each component and each function parameter of the actual vehicle, which is not limited here.

[0057] It can be understood that the embodiment of the present application can simulate the service of the vehicle, publish it to the bus for calling, and change the state of the vehicle after the service is called. In the case that the adversary service is missing or the adversary service is not developed or the adversary service is not available, the adversary service is simulated by means of the digital twin simulation system, the normal publishing and subscribing of the service are realized, and the smooth development and test of the software functions are ensured.

[0058] In the embodiment of the present application, the vehicle display end 100 displays the state of the vehicle by displaying the three-dimensional model of the vehicle, and in the case where the three-dimensional model receives an input operation, the components of the three-dimensional model are operated according to the input operation, and the display state of the components of the three-dimensional model is controlled.

[0059] It can be understood that, in the embodiment of the present application, the input operation is received through the three-dimensional model of the vehicle, and the components of the three-dimensional model are controlled according to the input content, so as to realize the change of the display state of the three-dimensional model and present the change on the vehicle display end, thereby facilitating the user to intuitively observe the influence of the development software on the vehicle.

[0060] In the embodiment of the present application, the vehicle display end 100 includes a three-dimensional model management module, which is used to manage the three-dimensional model and bind the three-dimensional model and the digital model of the vehicle, the components of the three-dimensional model and the digital components of the digital model of the vehicle are one-to-one bound, and the display state of the components of the three-dimensional model is bound with the state information of the digital components.

[0061] The digital components of the digital model of the vehicle can correspond to the display state of the components according to the actual state of the vehicle, for example, the state information of the door is that the door is open, so the open door is displayed, and in the case where the display state receives an input, the state information of the digital component is changed, thereby triggering subsequent notification or event information, which is not limited here.

[0062] It can be understood that, in the embodiment of the present application, the three-dimensional model management module is used to realize the binding of the three-dimensional model and the digital model of the vehicle, so that the components are bound, and after the binding, the digital twin is digitalized, and then the display state of the components of the three-dimensional model is bound with the state information of the digital components, so as to realize the effect that the virtual model is consistent with the actual state of the real vehicle.

[0063] It should be noted that the vehicle display end further includes a display end simulation module, a distribution module, an instance module and a reconstruction module, and the embodiment of the present application not only can control the display state of the three-dimensional model by using the various modules of the vehicle display end in the case where the three-dimensional model receives an input operation, but also can control the display state of the three-dimensional model by using the various modules of the vehicle display end in the case where the service published by the vehicle service simulation end is called, which is not limited here.

[0064] As a possible implementation manner, in a case where the three-dimensional model receives an input operation, the three-dimensional model management module is configured to process the input operation to generate a control instruction, and send the control instruction to the reconstruction module, the control instruction corresponding to calling information of a service; the reconstruction module forwards the control instruction to the instance module, and the instance module forwards the control instruction to the display terminal simulation module; the display terminal simulation module generates first state information according to the control instruction, and sends the first state information to the distribution module, the distribution module being configured to distribute the first state information to a corresponding instance in the instance module, the instance and the digital component corresponding to each other, and the instance module being configured to send second state information of the instance whose state changes to the reconstruction module, and the reconstruction module sends the second state information to the three-dimensional model management module to control a display state of the three-dimensional model.

[0065] The instruction corresponds to service information of the vehicle end, which is not specifically limited here.

[0066] The first state information can be all vehicle state changes and state values of the vehicle after the vehicle end service is called according to the instruction information and the simulation service configuration in the data preparation stage, which is not specifically limited here.

[0067] The second state information can be related information about obvious changes in the vehicle state and state values of the vehicle after the vehicle receives the instruction and the state of the vehicle changes, which is not specifically limited here.

[0068] It can be understood that the embodiments of the present application can change the display state through input operations, and utilize the interaction among the three-dimensional model management module, the simulation module, the distribution module, the instance module and the reconstruction module of the vehicle to enable the service calling end to subscribe to events and notifications when the opponent's tool does not exist or the opponent's tool notification or event service is not developed.

[0069] In the embodiments of the present application, the display terminal simulation module is further configured to generate notification information and / or event information according to the control instruction, and send the notification information and / or event information to the vehicle service simulation end, and the vehicle service simulation end publishes the notification information and / or event information to the service bus.

[0070] It can be understood that the display terminal simulation module in the embodiments of the present application not only receives the control instruction to generate corresponding notification information and / or event information and sends the notification information and / or event information to the vehicle service simulation end, but also converts the state sent by the cloud three-dimensional model reconstruction module into a notification or an event and then sends the notification or the event to the service bus, so as to facilitate the notification receiving of the service user of the opponent's tool for the next action.

[0071] In the embodiments of the present application, the system 10 of the embodiments of the present application further includes a service client. The service client is configured to listen to the notification information and / or the event information.

[0072] It can be understood that the service client of the embodiment of the application can listen to notification information and / or event information, and when the counterpart exists and the counterpart service is not developed, the event and notification subscription can also be performed, so that the counterpart service user can normally perform function iteration development and verification.

[0073] As another possible implementation manner, in a case where the service published by the vehicle service simulation end is called, the vehicle service simulation end is configured to process the calling information of the service into simulated services, methods and parameters, and send to a display end simulation module, the display end simulation module is configured to generate third state information according to the simulated services, methods and parameters, and send to a distribution module; the distribution module is configured to distribute the third state information to corresponding instances in an instance module, the instances and the digital components are one-to-one corresponding, the instance module is configured to send fourth state information of the instance whose state changes to a reconstruction module, and the reconstruction module sends the fourth state information to a three-dimensional model management module to control the display state of the three-dimensional model.

[0074] The third state information can be all changed states and state values obtained from the vehicle end service after the vehicle end service is called according to the simulated service configuration in the data preparation stage, which is not limited here.

[0075] The fourth state information can be information of vehicle states and state values that obviously change after the vehicle related simulation services, methods and parameters are uploaded, which is not limited here.

[0076] It can be understood that the embodiment of the application controls the display end by calling the service through the vehicle end module, and utilizes the interaction among the three-dimensional model management module, the simulation module, the distribution module, the instance module and the reconstruction module of the vehicle to call the simulated services of the digital twin vehicle end engine when the counterpart does not exist or the counterpart service is not developed, so that the digital twin vehicle end engine can operate the reconstructed vehicle twin body in the digital twin display end to make actions consistent with the actual hardware actions.

[0077] In the embodiment of the application, the three-dimensional model management module is further configured to render the three-dimensional model to display an animation of switching the display state of the corresponding component in the three-dimensional model, and display the switched display state.

[0078] It can be understood that the three-dimensional model management module in the embodiment of the application realizes the animation display when the state changes by adding rendering, so that the user can intuitively observe the state exhibited in the process of developing the software on the vehicle.

[0079] In the embodiment of the application, the service middleware is further configured to manage the services.

[0080] It can be understood that the embodiments of the present application can realize the management of services through the SOA service middleware.

[0081] In the embodiments of the present application, further comprising: in the case that the vehicle service simulation end receives the service configuration of the service to be simulated, simulating the service to be simulated according to the service configuration, and publishing to the service bus.

[0082] It can be understood that the embodiments of the present application only perform service configuration on the service to be simulated which is not developed or has no corresponding counterpart of the vehicle, and then simulate the service according to the service configuration and publish to the service bus, so as to facilitate the subsequent simulation of the counterpart service, so that the counterpart service user can normally perform function iteration development and verification.

[0083] According to the vehicle simulation system provided by the embodiments of the present application, based on the original service publishing and subscribing process, in the case that the counterpart is missing or the counterpart service is not developed or the counterpart service is not available, the simulation of the counterpart service is realized through the digital twin simulation system, the normal publishing and subscribing of the service are realized, and the smooth development and testing of the software function are ensured. Therefore, the problems in the related art that the normal publishing and subscribing of the service cannot be realized in the case that the counterpart is missing or the function on the counterpart is not developed, and the smooth development and testing of the software function are ensured are solved.

[0084] The vehicle simulation system will be described in detail below in combination with Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 , as follows:

[0085] The embodiments of the present application realize the service simulation of the EDC (Electric-Diesel-Control, diesel injection electronic control), VIU (Vehicle Interface Unit, vehicle interface unit) and other counterparts through the cooperation of the digital twin vehicle end engine and the digital twin presentation end, as shown in Figure 2 When the counterpart exists, the counterpart publishes the service to the bus, and other service calling ends such as a certain application APP1 (Application, application software) in the EDC can call the service published by the counterpart through the bus; when the counterpart does not exist or the counterpart service is not developed and cannot publish the service to the bus, the digital twin vehicle end engine can publish the service of the simulated counterpart to the bus, and other service calling ends such as a certain application APP1 in the EDC can also call the service published by the counterpart through the bus, except that the service provider is changed to the digital twin vehicle end engine.

[0086] When some services provided by the counterpart are called, the actual hardware action is manipulated, such as the opening of the turn signal of the counterpart VIU, the turn signal of the vehicle is turned on, if the counterpart does not exist or the counterpart service is not developed, the service cannot be published to the bus, the simulation service of the digital twin vehicle end engine is called, the digital twin vehicle end engine will operate the reconstructed vehicle twin in the digital twin display end to make actions consistent with the actual hardware action, such as the digital twin vehicle end engine opening the turn signal service is called, the turn signal of the vehicle twin in the digital twin display end is turned on.

[0087] Similarly, the vehicle twin in the digital twin display end can also simulate notification or event type services, such as the main driver door opening event, speed change notification, etc., and then publish the event to the bus through the digital twin vehicle end engine, and the service calling end can also subscribe to events and notifications when the counterpart does not exist or the counterpart notification or event service is not developed.

[0088] Among them, the above-mentioned digital twin display end is realized through cooperation of multiple modules, including: a digital twin cloud end 3D(three dimensional, three-dimensional graphics) model management module, a digital twin cloud end 3D reconstruction module, a digital twin cloud end 3D display front-end module, a digital twin cloud end data distribution module, a digital twin cloud end instance module, and a digital twin cloud end service simulation module, specifically as follows:

[0089] (1) Digital twin cloud end 3D model management module: used for management, binding and publishing of vehicle 3D model.

[0090] (2) Digital twin cloud end 3D reconstruction system module: used for obtaining connection information of data channel, communicating with vehicle 3D display end, digital twin cloud end instance module and cloud end simulation system.

[0091] (3) Digital twin cloud end 3D display front-end module: used for rendering of vehicle 3D model, animation effect display after service calling, and interaction between user and 3D model.

[0092] (4) Digital twin cloud end instance module: used for providing vehicle instance registration / deregistration, state management, receiving data of cloud end distribution system and sending changed state to data twin cloud end 3D reconstruction module.

[0093] (5) Digital twin cloud end data distribution module: used for receiving vehicle state data and distributing vehicle state data to specified instance module.

[0094] (6) Digital twin cloud service simulation module: the service to be simulated is configured and issued to the digital twin vehicle end engine module, the simulated service and its parameters reported by the digital twin vehicle end engine module after the simulated service is called are received, and they are converted into the state corresponding to the vehicle 3D twin model; the state sent by the cloud 3D reconstruction module is converted into a notification or an event.

[0095] The digital twin vehicle end engine module is configured to receive the service to be simulated issued by the cloud service simulation module and the notification or event after the state of the cloud vehicle 3D model changes; the notification or event returned by the cloud is published to the data bus in the form of a service, so that other software can subscribe and listen, and the simulated service and its parameters are uploaded to the cloud service simulation module after the simulated service is called.

[0096] In order to realize service simulation and digital twin display, data preparation needs to be done in advance, and data preparation is the key to service simulation, which is used to associate the vehicle end and the cloud 3D model. The data preparation includes two parts: the first part is digital relationship binding, and the second part is simulation service configuration. Specifically:

[0097] (1) The process of the digital relationship binding part of the data preparation is shown in Figure 3 First, the 3D model is made and uploaded. The 3D model is made according to a certain part of the vehicle, such as the 3D model of the driver's door. The driver's door can be a combined 3D model, which can include two 3D model components of the door and the window. Then the 3D model can be uploaded to the digital twin cloud 3D model management module after the 3D model is made. The digital twin cloud 3D model management module is divided according to the components of the vehicle, and a vehicle digital model is also maintained.

[0098] The vehicle digital model divides the components of the vehicle according to the level, such as a vehicle digital model first-level component including the door, the seat, the light, etc. The door has the next-level components including the driver's door, the passenger's door, the left rear door, the right rear door, the trunk door, etc. The driver's door includes the driver's door, the driver's window, the driver's lock, the atmosphere light strip, etc. Each component of the vehicle digital model has its own state, such as the driver's door state including the driver's door open and the driver's door closed.

[0099] When there are 3D models and vehicle digital models, the two can be bound, and after binding, it is a digitalized digital twin, but the twin cannot represent the state of each component, such as the main driver door opening state, which needs to display the actual vehicle main driver door opening state effect, and needs to set the 3D model animation to meet the state change in the digital model, and can also set the click action of a certain component of the 3D model, which can issue similar service call instructions. The digital twin cloud 3D display front-end module integrates the digital twin, which contains the state and 3D model animation relationship, 3D model and instruction relationship, and only needs to give the state of a certain component of the corresponding digital twin to the digital twin cloud 3D display front-end module. The digital twin cloud 3D display front-end module will display the corresponding vehicle twin animation, and clicking on a certain component of the digital twin in the digital twin cloud 3D display front-end module will issue the bound instruction.

[0100] (2) The process of simulating the service configuration part of data preparation is as shown in Figure 4 The digital twin cloud service simulation module manages the SOA (Service-Oriented Architecture) service implemented by the vehicle end, and maintains which state changes and their change values of the vehicle caused by the calling of a certain SOA service (a middleware, which needs to be implemented to call a specific service) of the vehicle end. The state here is consistent with the state in the above-mentioned digital twin. At the same time, it also maintains the relationship between the notification or event service triggered by the state change of the vehicle. In the digital twin cloud service simulation module, the vehicle end service that needs to be simulated can be selected, and then it is clicked to be delivered to the digital twin vehicle end engine. The digital twin cloud service simulation module will deliver the service configuration that needs to be simulated to the digital twin vehicle end engine. The digital twin vehicle end engine will publish the corresponding service that needs to be simulated to the service bus according to the delivered service configuration that needs to be simulated, and the service invoker can call through the bus.

[0101] When the opponent's tool does not exist or the opponent's tool service is not developed and completed, the service cannot be published to the bus, and the simulated service of the digital twin vehicle end engine will be called. The digital twin vehicle end engine will operate the reconstructed vehicle twin in the digital twin display end to make actions consistent with the actual hardware actions. The detailed process is as shown in Figure 5

[0102] ​When the simulated service of the digital twin vehicle-side engine module is called by the vehicle-side service client, the call is processed into a simulated service, method and parameter and sent to the digital twin cloud-side service simulation module. Then, the cloud-side service simulation module processes the service call information from the digital twin vehicle-side engine module into a state and state value according to the state changes of the vehicle caused by the vehicle-side service call and the change values maintained in the simulation service configuration in the data preparation stage, and sends the state and state value to the digital twin cloud-side data distribution module. The digital twin cloud-side data distribution module distributes the state and state value to the instance node of the corresponding vehicle. Then, the digital twin cloud-side instance module filters the received vehicle state and state value, and sends the changed state and state value to the digital twin cloud-side 3D reconstruction module and the digital twin cloud-side service simulation module. The digital twin cloud-side 3D reconstruction module sends the received vehicle state and state value to the digital twin 3D display front-end module. The cloud-side 3D display front-end module analyzes the received vehicle state and state value, and displays the corresponding vehicle twin body animation according to the animation bound in the digital relationship binding part in the data preparation stage.

[0103] At the same time, the digital twin cloud-side service simulation module also converts the changed state and state value into notification or event service information according to the notification or event service relationship caused by the state change of the vehicle in the simulation service configuration in the data preparation stage, and sends the notification or event service information to the digital twin vehicle-side engine. The digital twin vehicle-side engine publishes the notification or event service information to the bus through service publishing, and the corresponding notification or event service client can receive the notification or event information.

[0104] For the service call end mentioned above, when the opponent's document does not exist or the opponent's document notification or event service is not developed, the subscription of events and notifications can also be performed, and the specific process is as shown in Figure 6 When the user clicks a certain component of the vehicle digital twin body in the digital twin cloud-side 3D display front-end module and performs a specific action, the cloud-side 3D display front-end module processes the action into an instruction and sends it to the digital twin cloud-side 3D reconstruction module. Then, the digital twin cloud-side 3D reconstruction module forwards the instruction to the corresponding digital twin cloud-side instance module, and the cloud-side instance module forwards the instruction to the digital twin cloud-side service simulation module.

[0105] The instruction information corresponds to the service information of the vehicle end. The cloud service simulation module processes the instruction information from the digital twin cloud 3D reconstruction module according to the state changes of the vehicle caused by the called vehicle end service and the change values thereof maintained in the simulation service configuration in the data preparation stage into states and state values, and sends the states and state values to the digital twin cloud data distribution module. The digital twin cloud data distribution module distributes the states and state values to the instance nodes of the corresponding vehicle. The digital twin cloud instance module filters the received vehicle states and state values, and sends the changed states and state values to the digital twin cloud 3D reconstruction module and the digital twin cloud service simulation module. The digital twin cloud 3D reconstruction module sends the received vehicle states and state values to the digital twin 3D display front-end module. The cloud 3D display front-end module analyzes the received vehicle states and state values, and displays the corresponding vehicle twin body animation according to the animation bound in the digital relationship binding part in the data preparation stage.

[0106] Meanwhile, the digital twin cloud service simulation module also converts the changed states and state values into notification or event service information according to the relationship between the state changes of the vehicle and the notification or event services in the simulation service configuration in the data preparation, and sends the notification or event service information to the digital twin vehicle end engine. The digital twin vehicle end engine publishes the notification or event service information to the bus through service publishing, and the corresponding service client that listens to the notification or event can receive the notification or event information.

[0107] In summary, the embodiment of the application can simulate the counterpart part service in the case of missing counterpart part or incomplete counterpart part service or unavailable counterpart part service, so that the counterpart part service user can normally perform function iteration development and verification. The user can dynamically change and select the counterpart part service configuration that needs to be simulated, and has the advantages of strong extensibility and high customization. After the simulated counterpart part service is called, it interacts with the cloud digital twin 3D model to make the cloud digital twin 3D model produce the same display effect as the counterpart part on the real vehicle, so that the counterpart part service user can intuitively see the impact of the developed software on the vehicle. The counterpart part service user can operate the cloud digital twin 3D model to produce events consistent with the real vehicle, such as opening the door, raising the seat, and other notification events. Not only the service call is simulated, but also the event notification is generated, which is convenient for the counterpart part service user to receive the notification for the next action.

[0108] Secondly, the vehicle simulation method according to the embodiment of the application is described with reference to the accompanying drawings.

[0109] Figure 7 is a flowchart of the vehicle simulation method of the embodiment of the application.

[0110] As Figure 7 The vehicle simulation method comprises the following steps:

[0111] In step S101, a service of the vehicle is simulated and published to a service bus of the vehicle.

[0112] It can be understood that the embodiment of the present application can publish the service of the simulated vehicle to the service bus, ensuring that the subsequent calling of the related service is realized through the bus.

[0113] In step S102, in the case that the service is called, the displayed state of the vehicle is changed according to the information of the called service.

[0114] It can be understood that the embodiment of the present application can call the related service information through the bus, so as to change the state of the vehicle, and make the vehicle realize the effect that the virtual model is consistent with the real vehicle state.

[0115] It should be noted that the foregoing explanation and description of the vehicle simulation system embodiment are also applicable to the vehicle simulation method of the embodiment, which will not be described here.

[0116] According to the vehicle simulation method provided in the embodiment of the present application, based on the original service publishing and subscribing process, in the case that the counterparty document is missing or the counterparty service is not developed or the counterparty service is unavailable, the simulation of the counterparty service is realized through the digital twin simulation system, the normal publishing and subscribing of the service are realized, and the smooth development and testing of the software function are ensured. Therefore, the problems in the related art that the normal publishing and subscribing of the service cannot be realized in the case that the counterparty document is missing or the function on the counterparty is not developed, and the smooth development and testing of the software function are ensured are solved.

[0117] The embodiment of the present application also provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to realize the vehicle simulation method as described above.

[0118] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, the skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0119] In addition, the terms "first", "second", etc. are used herein only to describe different instances, and do not imply or suggest relative importance or a number of the indicated technical features. Thus, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0120] Any process or method descriptions or descriptions of the flow diagrams described herein or otherwise described in the present application can be understood as representing executable instructions, code or modules stored in a computer-readable storage medium, and the scope of the preferred embodiments of the present application includes additional implementations or implementations in which the functions described in the processes or methods described herein or otherwise described in the present application are implemented in different orders, in different ways, or are not implemented at all.

[0121] It should be understood that various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. As in another embodiment, if implemented in hardware, any of the following technologies or their combinations known in the art can be used: discrete logic circuit with logic gate circuit for implementing logic functions on data signals, application specific integrated circuit with suitable combination logic gate circuit, programmable gate array, field programmable gate array, etc.

[0122] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment methods can be completed by programs instructing related hardware, and the programs can be stored in a computer-readable storage medium, and the programs include one or a combination of steps of the method embodiments when executed.

[0123] Although the embodiments of the present application have been shown and described above, it can be understood that the above-described embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A vehicle simulation system, characterized by, The vehicle display end is configured to display a current state of the vehicle. The vehicle service simulation end is configured to simulate a service of the vehicle and publish the service to a service bus of the vehicle. When the service is invoked, the vehicle service simulation end sends information of the invoked service to the vehicle display end to change the displayed state of the vehicle. The vehicle display end comprises a three-dimensional model management module, a display end simulation module, a distribution module, an instance module and a reconstruction module. When an input operation is received by the three-dimensional model of the vehicle, the three-dimensional model management module is configured to process the input operation to generate a control instruction, and send the control instruction to the reconstruction module, the control instruction corresponding to invocation information of the service. The reconstruction module forwards the control instruction to the instance module, and the instance module forwards the control instruction to the display end simulation module. The display end simulation module generates first state information according to the control instruction and sends it to the distribution module. The distribution module is configured to distribute the first state information to corresponding instances in the instance module. The instances and digital components correspond to each other. The instance module is configured to send second state information of the instance whose state has changed to the reconstruction module, and the reconstruction module sends the second state information to the three-dimensional model management module to control the display state of the three-dimensional model. The vehicle display end displays the state of the vehicle by displaying the three-dimensional model of the vehicle. When an input operation is received by the three-dimensional model, the components of the three-dimensional model are operated according to the input operation, and the display state of the components of the three-dimensional model is controlled.

2. The vehicle simulation system of claim 1, wherein The three-dimensional model management module is configured to manage the three-dimensional model and bind the three-dimensional model and a vehicle digital model. The components of the three-dimensional model and the digital components of the vehicle digital model are bound one by one. The display state of the components of the three-dimensional model is bound with the state information of the digital components.

3. The vehicle simulation system of claim 2, wherein, The display end simulation module is further configured to generate notification information and / or event information according to the control instruction and send it to the vehicle service simulation end. The vehicle service simulation end publishes the notification information and / or event information to the service bus.

4. The vehicle simulation system of claim 1, wherein Further comprising:

5. The vehicle simulation system of claim 4, wherein, A service client configured to listen to the notification information and / or event information. ​ 6. The vehicle simulation system of claim 2, wherein The vehicle display end further comprises a display end simulation module, a distribution module, an instance module and a reconstruction module, in the case that the service published by the vehicle service simulation end is called, the vehicle service simulation end is used for processing the calling information of the service into simulated service, method and parameter, and sending to the display end simulation module, the display end simulation module is used for generating third state information according to the simulated service, method and parameter, and sending to the distribution module;The distribution module is used for distributing the third state information to the corresponding instance in the instance module, the instance and the digital component one by one, the instance module is used for sending the fourth state information of the instance whose state changes to the reconstruction module, and the reconstruction module sends the fourth state information to the three-dimensional model management module to control the display state of the three-dimensional model.

7. The vehicle simulation system according to claim 1 or 6, characterized by The three-dimensional model management module is further used for rendering the three-dimensional model to display the animation of the switching of the display state of the corresponding component in the three-dimensional model, and display the display state after switching.

8. The vehicle simulation system of claim 1, wherein, Further comprising: A service middleware, the service middleware is used for managing the service.

9. The vehicle simulation system of claim 1, wherein, Further comprising: In the case that the service configuration of the service to be simulated is received by the vehicle service simulation end, the service to be simulated is simulated according to the service configuration, and published to the service bus.

10. A vehicle simulation method for the vehicle simulation system according to any one of claims 1 to 9, characterized by, Including: Simulate the service of the vehicle and publish to the service bus of the vehicle; In the case that the service is called, according to the information of the called service, the displayed state of the vehicle is changed.

11. A computer readable storage medium, characterized in that, The computer program is contained, when the computer program is executed by one or more processors, the vehicle simulation method of claim 10 is realized.

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