A vehicle simulation test method, device, equipment and medium

Abstract

This application provides a vehicle simulation testing method, apparatus, equipment, and medium to improve vehicle simulation testing efficiency and computing resource utilization. The method includes: loading a test vehicle model and one or more reference vehicle models into a simulation environment; determining at least one reference vehicle model located within a preset range of the test vehicle model; judging whether each reference vehicle model has an impact on the test vehicle model based on traffic flow information of each of the at least one reference vehicle model; if a first reference vehicle model among the at least one reference vehicle model has an impact on the test vehicle model, then invoking the dynamics model of the first reference vehicle model to test the test vehicle model; and / or, if a second reference vehicle model among the at least one reference vehicle model has no impact on the test vehicle model, then not invoking the dynamics model of the second reference vehicle model.

Description

Technical Field

[0001] This application relates to the field of vehicle testing technology, and in particular to a vehicle simulation testing method, apparatus, equipment and medium. Background Technology

[0002] Currently, with the continuous development of intelligent driving technology, in order to enable intelligent driving vehicles to make correct decisions based on perception data, it is necessary to conduct extensive simulation tests on intelligent driving vehicles in virtual simulation scenarios. Among them, tests for scenarios such as urban areas, intercity highways, and expressways require that the vehicles participating in the test verification have independent vehicle dynamics models, so that the test verification results are more in line with the requirements of actual test conditions (for example, a reasonable driving path can be planned based on the vehicle test results).

[0003] The current testing mainly involves calling the dynamic models of all vehicle models within a fixed distance from the test vehicle model, which requires a large amount of computational resources and has low testing efficiency. Summary of the Invention

[0004] This application provides a vehicle simulation testing method, apparatus, equipment, and medium to improve vehicle simulation testing efficiency and increase the utilization rate of computing resources.

[0005] In a first aspect, this application provides a vehicle simulation testing method, comprising: loading a test vehicle model and one or more reference vehicle models in a simulation environment; determining at least one reference vehicle model located within a preset range of the test vehicle model; determining whether each reference vehicle model has an impact on the test vehicle model based on traffic flow information of each of the at least one reference vehicle model; if a first reference vehicle model among the at least one reference vehicle model has an impact on the test vehicle model, then invoking the dynamics model of the first reference vehicle model to test the test vehicle model; and / or, if a second reference vehicle model among the at least one reference vehicle model has no impact on the test vehicle model, then not invoking the dynamics model of the second reference vehicle model.

[0006] In this scheme, considering that not every reference vehicle model will necessarily affect the test vehicle model during simulation testing, before calling the dynamic model of the reference vehicle model, the traffic flow information of the reference vehicle models within the preset range of the test vehicle model is used to determine whether these reference vehicle models will affect the test vehicle model. When calling the dynamic model of the reference vehicle model, only the reference vehicle models that affect the test vehicle model are called, and the dynamic models of the test vehicle models that do not affect the test vehicle model (i.e., the second reference vehicle model) are not called. This can reduce resource waste and improve the efficiency of vehicle simulation testing.

[0007] Optionally, after loading the test vehicle model and one or more reference vehicle models in the simulation environment, and before determining whether each reference vehicle model has an impact on the test vehicle model, the method further includes: configuring traffic flow information for the test vehicle model and the one or more reference vehicle models.

[0008] This method configures traffic flow information for the test vehicle model and one or more reference vehicle models, improving the reliability and completeness of the solution.

[0009] Optionally, determining whether each reference vehicle model has an impact on the test vehicle model based on the traffic flow information of each reference vehicle model in at least one reference vehicle model includes: when it is detected that any one of the at least one reference vehicle model enters the preset range from outside the preset range, determining whether any one reference vehicle model has an impact on the test vehicle model within a preset time period after the any one reference vehicle model enters the preset range.

[0010] This method allows for timely determination of whether reference vehicle models within a preset range affect the test vehicle model, and eliminates the need to evaluate all reference vehicle models within the preset range each time, thereby reducing resource waste and improving testing efficiency.

[0011] Optionally, the method further includes: when the speed of the test vehicle model is less than a first threshold, determining the preset range based on the maximum detection distance of the sensor of the test vehicle model; or, when the speed of the test vehicle model is greater than the first threshold, determining the preset range based on the maximum detection distance of the sensor of the test vehicle model, the response time of the sensor, and the speed of the test vehicle model.

[0012] This method simplifies calculations and improves vehicle simulation testing efficiency when the speed of the test vehicle model is less than the first threshold. When the speed of the test vehicle model is greater than the first threshold, the preset range is determined based on the maximum detection distance of the test vehicle model's sensors, the sensor response time, and the speed of the test vehicle model. This ensures that the preset range is related to the speed of the test vehicle (e.g., the higher the speed of the test vehicle, the larger the preset range), thus improving the reliability of the solution.

[0013] Optionally, the traffic flow information includes the travel path; determining whether each reference vehicle model has an impact on the test vehicle model based on the traffic flow information of each of the at least one reference vehicle model includes: if the travel path of any one of the at least one reference vehicle model overlaps with the travel path of the test vehicle model, it is determined that any one of the at least one reference vehicle model has an impact on the test vehicle model; or, if the travel path of any one of the at least one reference vehicle model does not overlap with the travel path of the test vehicle model, it is determined that any one of the at least one reference vehicle model has no impact on the test vehicle model.

[0014] In real-world scenarios, vehicles need to respond to other vehicles whose trajectories overlap with their own (e.g., hazard lights need to be activated when meeting oncoming traffic at night, turn signals need to be activated to alert vehicles in front, behind, and to the sides when turning, vehicle speed needs to be reduced when it is close to the vehicle in front, and route replanning is required when traffic is congested). Therefore, determining whether the reference vehicle model has any impact on the test vehicle model by comparing the driving paths of the reference vehicle model and the test vehicle model is of practical significance and ensures the reliability and rationality of the solution.

[0015] Secondly, embodiments of this application provide a vehicle simulation testing device, the device including modules / units / technical means for performing the methods described in the first aspect or any optional implementation of the first aspect.

[0016] For example, the device may include:

[0017] The loading module is used to load the test vehicle model and one or more reference vehicle models into the simulation environment;

[0018] The processing module is configured to: identify at least one reference vehicle model located within a preset range of the test vehicle model; determine, based on the traffic flow information of each reference vehicle model, whether each reference vehicle model has an impact on the test vehicle model; if the first reference vehicle model among the at least one reference vehicle model has an impact on the test vehicle model, then invoke the dynamics model of the first reference vehicle model to test the test vehicle model; and / or, if the second reference vehicle model among the at least one reference vehicle model has no impact on the test vehicle model, then do not invoke the dynamics model of the second reference vehicle model.

[0019] Optionally, the loading module is used to configure traffic flow information for the test vehicle model and the one or more reference vehicle models.

[0020] Optionally, the processing module is configured to: when it is detected that any one of the at least one reference vehicle model enters the preset range from outside the preset range, within a preset time period after the reference vehicle model enters the preset range, determine whether the reference vehicle model has any impact on the test vehicle model.

[0021] Optionally, the processing module is configured to: determine the preset range based on the maximum detection distance of the sensor of the test vehicle model when the speed of the test vehicle model is less than a first threshold; or, determine the preset range based on the maximum detection distance of the sensor of the test vehicle model, the response time of the sensor, and the speed of the test vehicle model when the speed of the test vehicle model is greater than the first threshold.

[0022] Optionally, the traffic flow information includes travel paths; the processing module is configured to: if the travel path of any one of the at least one reference vehicle model overlaps with the travel path of the test vehicle model, determine that any one of the at least one reference vehicle model has an impact on the test vehicle model; or, if the travel path of any one of the at least one reference vehicle model does not overlap with the travel path of the test vehicle model, determine that any one of the at least one reference vehicle model has no impact on the test vehicle model.

[0023] Thirdly, an electronic device is provided, comprising: at least one processor; and a memory and a communication interface communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor, by executing the instructions stored in the memory, causes the electronic device to perform any of the methods provided in the first aspect via the communication interface.

[0024] Fourthly, a computer-readable storage medium is provided for storing instructions that, when executed, cause any of the methods provided in the first aspect to be implemented. Attached Figure Description

[0025] Figure 1 A scenario diagram provided for an embodiment of this application;

[0026] Figure 2 A flowchart of a vehicle simulation testing method provided in this application embodiment;

[0027] Figure 3 This is another scenario illustration provided for an embodiment of this application;

[0028] Figure 4 A structural diagram of a vehicle simulation testing device provided in an embodiment of this application;

[0029] Figure 5 This is a structural diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0031] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "multiple" in this application can mean at least two, for example, two, three, or more, and the embodiments of this application do not impose limitations.

[0032] The term "and / or" in the embodiments of this application is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0033] To facilitate understanding of the solutions in the embodiments of this application, the possible application scenarios of the embodiments of this application will be introduced below.

[0034] The dynamics model is used to simulate the movement of a vehicle model in a simulation scene. Specifically, the dynamics model can reflect the vehicle model's longitudinal, lateral, pitch, yaw, and roll motion attitude information, as well as information such as the vehicle model's type, color, and weight. Using the dynamics model, a vehicle model can realistically simulate the application of a vehicle in a real-world scenario.

[0035] In typical vehicle simulation testing scenarios, there is one test vehicle model and multiple reference vehicle models. However, only some of the reference vehicle models will affect the test vehicle model. If the dynamics model of a reference vehicle model that does not affect the test vehicle model is called, it will consume a lot of computing resources and affect the efficiency of vehicle simulation testing.

[0036] Therefore, this application provides a technical solution to improve vehicle simulation testing efficiency and increase computing resource utilization.

[0037] For example, see Figure 1 This is a schematic diagram illustrating a scenario applicable to an embodiment of this application. Figure 1 This paper illustrates a vehicle simulation test scenario, which includes a test vehicle model A and reference vehicle models B1, B2, B3, B4, B5, and B6. Each test vehicle in this scenario is equipped with a corresponding dynamic model. During testing, the dynamic model of test vehicle model A, as well as the dynamic model of at least one reference vehicle model, are invoked to perform functional tests on test vehicle model A. These functions may include, for example, path planning, object detection, autonomous driving, and driver assistance.

[0038] Understandable. Figure 1 This is merely an example; more or fewer vehicle models may be included in the simulation scenario, and this application makes no limitation thereto.

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0040] Reference Figure 2 This is a flowchart of a vehicle simulation testing method provided in an embodiment of this application. The method is applied to... Figure 1 Take the scenario shown as an example.

[0041] This method can be executed by computer devices, such as laptops, desktop computers, and servers, and can also be applied to various devices with computing capabilities, such as mobile phones, tablets, and other devices with computing capabilities. The above devices are merely illustrative examples, and this application does not impose any limitations.

[0042] The following example illustrates how this method is executed by a computer device. The method includes:

[0043] S201: Load the test vehicle model and one or more reference vehicle models into the simulation environment.

[0044] The test vehicle model is the model corresponding to the vehicle under test, and the reference vehicle model is the model corresponding to other vehicles participating in the test.

[0045] Understandably, computer equipment can generate corresponding simulation scenarios based on actual test scenarios, for example, referencing... Figure 1 The computer equipment generates roads in the corresponding simulation scenario based on the roads in the actual test scenario, and loads corresponding vehicle models in the simulation environment based on actual vehicles, for example, referring to... Figure 1 The computer equipment generates a corresponding test vehicle model A based on the vehicle under test in the actual test scenario, and generates corresponding reference vehicle models B1, B2, B3, B4, B5, and B6 based on other vehicles in the actual scenario.

[0046] S202: Identify at least one reference vehicle model that is within the preset range of the test vehicle model.

[0047] For example, refer to Figure 1 The area within the dashed line is the preset range, and reference vehicle models B3, B4, and B6 are located within the preset range of test vehicle model A.

[0048] S203: Based on the traffic flow information of each reference vehicle model in at least one reference vehicle model, determine whether each reference vehicle model has an impact on the test vehicle model.

[0049] Traffic flow information includes travel routes.

[0050] Optionally, the computer equipment configures traffic flow information for the test vehicle model and one or more reference vehicle models. The traffic flow information includes the vehicle model's attributes and path information. For example, the vehicle model's attributes include: vehicle model length, vehicle model acceleration, vehicle model deceleration, vehicle model maximum acceleration, vehicle model maximum deceleration, vehicle model ID, vehicle model speed at each moment, minimum distance between the vehicle model and other vehicle models, etc.; the vehicle model's path information includes: the vehicle model's travel path, path ID number, information on the member lanes required to form the path, etc. Based on the vehicle model's traffic flow information, the vehicle model's motion state and whether it changes lanes during the test are all known information.

[0051] The speed of the vehicle model can be the speed at multiple reference points along the path, for example, setting a reference point every 10 meters and a speed every 10 meters; or it can be a speed at set intervals, for example, a speed every 5 seconds.

[0052] Optionally, the computer device can arbitrarily combine the attributes of the vehicle model with the path information to obtain the vehicle's traffic flow information. For example, if there are attributes a and b of the vehicle model and path information 1 and 2, then the traffic flow information of the vehicle model can be any one of a1, a2, b1, and b2.

[0053] It is understood that the above is merely an example and not a limitation.

[0054] This method allows computer equipment to configure traffic flow information for all vehicles in the test scenario, improving the completeness and reliability of the solution.

[0055] The following section describes which reference vehicle models to select for the judgment.

[0056] One possible approach is to determine whether all vehicle models within a preset range affect the test vehicle model. For example, Figure 1 In the test, at time t0, there is no reference vehicle model within the preset range; at time t1, reference vehicle models B4 and B6 enter the preset range, and the computer equipment determines whether reference vehicle models B4 and B6 have any impact on the test vehicle model; at time t2, reference vehicle model B3 enters the preset range, and reference vehicle models B4 and B6 are also within the preset range, and the computer equipment determines whether reference vehicle models B3, B4, and B6 have any impact on the test vehicle model.

[0057] Optionally, the computer device can periodically determine whether all vehicle models within a preset range have an impact on the test vehicle model at preset time intervals, for example, once every 5 seconds.

[0058] In one possible approach, when the computer device detects that any one of the at least one reference vehicle model has entered the preset range from outside the preset range, it determines whether the reference vehicle model has any impact on the test vehicle model within a preset time period after the reference vehicle model enters the preset range.

[0059] For example, Figure 1 In the process, at time t0, there is no reference vehicle model within the preset range; at time t1, reference vehicle models B4 and B6 enter the preset range from outside the preset range, and the computer device determines within 1 minute whether reference vehicle models B4 and B6 have any impact on the test vehicle model; at time t2, reference vehicle model B3 enters the preset range from outside the preset range, and reference vehicle models B4 and B6 are also within the preset range, and the computer device determines within 1 minute whether reference vehicle model B3 has any impact on the test vehicle model.

[0060] Understandably, the preset time of 1 minute is just an example and not a limitation. In actual testing, the preset time can be specified according to the testing needs.

[0061] This method allows for timely determination of whether reference vehicle models within a preset range affect the test vehicle model, and eliminates the need to evaluate all reference vehicle models within the preset range each time, thereby reducing resource waste and improving testing efficiency.

[0062] The following describes the method for determining the preset range. In one possible approach, when the speed of the test vehicle model is less than a first threshold, the preset range can be a fixed area centered on the test vehicle.

[0063] Understandably, when the speed of the test vehicle model is less than the first threshold, the preset range can be selected according to actual needs. For example, the preset range is always 200 meters in front of the test vehicle, 50 meters behind, 30 meters to the left, and 30 meters to the right. The preset range can also be the maximum detection distance of the test vehicle model's sensors. For example, if the maximum detection distance of the sensors is 100 meters, then the preset range is the area inside a circle with the test vehicle as the center and a radius of 100 meters.

[0064] In this method, when the speed of the test vehicle model is low, the sensor detects fewer reference vehicle models. At this time, the sensor delay has a small impact on determining the reference vehicle within the preset range. Therefore, the preset range can be determined only based on the maximum detection distance of the sensor. The preset range is a fixed range relative to the test vehicle model, which is simple to calculate and improves the efficiency of vehicle simulation testing.

[0065] In one possible approach, when the speed of the test vehicle model exceeds a first threshold, the computer device can determine a preset range based on the maximum detection distance of the test vehicle model's sensors, the sensor response time, and the speed of the test vehicle model.

[0066] For example, the first threshold is 60 km / h, the speed of the test vehicle model is 80 km / h (approximately 22 m / s), the sensor response time is 1 second, and the maximum detection distance of the sensor is 100 meters. The radius of the preset range can be x = s + v × t, where x is the radius of the preset range, s is the maximum detection distance of the sensor, v is the speed of the test vehicle model, and t is the sensor response time. Therefore, x = 122 meters, and the preset range is the area inside a circle centered on the test vehicle model with a radius of 122 meters.

[0067] Understandably, the first threshold can be determined according to actual needs, and this application does not impose any restrictions.

[0068] Understandably, when the speed of the test vehicle model is equal to the first threshold, a preset range can be determined according to actual needs. For example, when the speed of the test vehicle model is equal to the first threshold, the preset range can be a fixed area centered on the test vehicle, or the computer equipment can determine the preset range based on the maximum detection distance of the test vehicle model's sensors, the response time of the sensors, and the speed of the test vehicle model.

[0069] In this method, when the speed of the test vehicle model is high, the sensor detects a relatively large number of reference vehicle models. At this time, the sensor delay has a significant impact on determining the reference vehicles within the preset range. Therefore, the preset range can be determined simultaneously based on the sensor's maximum detection distance, the sensor's response time, and the speed of the test vehicle model, thus improving the reliability of the solution.

[0070] The following describes the specific methods for determining whether the reference vehicle model has an impact on the test vehicle model.

[0071] The computer equipment uses sensors to determine each reference vehicle model within a preset range. For example, the preset range might be a circular area. When the distance between a reference vehicle model and the test vehicle model, as detected by the sensors, is less than the radius of the preset range, the computer equipment determines that reference vehicle model is within the preset range. Alternatively, the preset range could be 200 meters forward, 50 meters backward, 30 meters to the left, and 30 meters to the right of the test vehicle. When the distance between a forward-facing reference vehicle model and the test vehicle model, as detected by the sensors, is less than 200 meters, the computer equipment determines that reference vehicle model is within the preset range.

[0072] In one possible approach, the computer equipment can obtain the travel path of the reference vehicle model based on traffic flow information, and then determine whether each reference vehicle model within a preset range has any impact on the test vehicle model.

[0073] For example, if the travel path of the reference vehicle model overlaps with the travel path of the test vehicle model, the computer device determines that the reference vehicle model has an impact on the test vehicle model; if the travel path of the reference vehicle model does not overlap with the travel path of the test vehicle model, the computer device determines that the reference vehicle model has no impact on the test vehicle model. In one possible approach, the computer device can also combine other information in the traffic flow information to determine whether each reference vehicle model within a preset range has an impact on the test vehicle model.

[0074] For example, traffic flow information may include not only travel path and speed, but also vehicle spacing and travel direction. If the travel path of the reference vehicle model overlaps with that of the test vehicle model, but the distance between them is consistently greater than a preset distance, and the travel direction and speed remain unchanged, the computer equipment can determine that the reference vehicle model has no impact on the test vehicle model; otherwise (i.e., the reference vehicle model exhibits acceleration, deceleration, or lane changing behavior), the computer equipment determines that the reference vehicle model has an impact on the test vehicle model. Understandably, other information can be set in the traffic flow information as needed, and the computer equipment can also determine whether the reference vehicle model has an impact on the test vehicle model based on other information in the traffic flow information.

[0075] In this way, the computer equipment determines whether the reference vehicle model has any impact on the test vehicle model based on traffic flow information, thus ensuring the reliability and rationality of the solution.

[0076] If the first reference vehicle model in at least one reference vehicle model has an impact on the test vehicle model, then execute S204: call the dynamic model of the first reference vehicle model to test the test vehicle model; and / or, if the second reference vehicle model in at least one reference vehicle model has no impact on the test vehicle model, then execute S205: do not call the dynamic model of the second reference vehicle model.

[0077] For example, see Figure 1 and Figure 3 The dotted line represents a preset range. Reference vehicle models B3, B4, and B6 are within this range. B3 affects the test vehicle model, while B4 and B6 do not. Therefore, the computer will use the dynamic model of B3 (see [link to relevant documentation]). Figure 3 The computer equipment can also avoid calling the dynamic models of B4 and B6 to test the test vehicle model.

[0078] In one possible approach, the computer device may call the dynamics model of the test vehicle model before executing S202; it may also call the dynamics model of the reference vehicle model after calling the dynamics model of the reference vehicle model; or it may call the dynamics model of the test vehicle model at the same time as calling the dynamics model of the reference vehicle model. This application does not impose any restrictions, as long as the dynamics model of the test vehicle model is called before the test begins.

[0079] After the computer equipment accesses the dynamic models of the test vehicle model and the first reference vehicle model, the vehicle perception system can perceive the data from these dynamic models, and the vehicle decision-making system can make decisions based on this data. For example, in conducting vehicle simulation tests across numerous scenarios, the decision-making system can plan the optimal driving path, reasonable driving speed, and so on.

[0080] By using the above scheme, before calling the dynamic model of the reference vehicle model, the computer equipment first determines whether these reference vehicle models have an impact on the test vehicle model based on the traffic flow information of the reference vehicle models within the preset range of the test vehicle model. When calling the dynamic model of the reference vehicle model, only the reference vehicle models that have an impact on the test vehicle model are called, and the dynamic models of the test vehicle models (i.e., the second reference vehicle models) that have no impact on the test vehicle model are not called. This can reduce resource waste and improve the efficiency of vehicle simulation testing.

[0081] The methods provided in the embodiments of this application have been described above. The apparatus provided in the embodiments of this application will be described below.

[0082] See Figure 4 This application provides a vehicle simulation testing device 400, which includes modules / units / technical means for performing the methods executed by computer devices in the above-described method embodiments.

[0083] For example, the device includes:

[0084] Loading module 401 is used to load a test vehicle model and one or more reference vehicle models in a simulation environment;

[0085] The processing module 402 is used to determine at least one reference vehicle model located within a preset range of the test vehicle model; determine whether each reference vehicle model has an impact on the test vehicle model based on the traffic flow information of each reference vehicle model in the at least one reference vehicle model; if the first reference vehicle model in the at least one reference vehicle model has an impact on the test vehicle model, then the dynamic model of the first reference vehicle model is invoked to test the test vehicle model; and / or, if the second reference vehicle model in the at least one reference vehicle model has no impact on the test vehicle model, then the dynamic model of the second reference vehicle model is not invoked.

[0086] It should be understood that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0087] As one possible product form of the aforementioned device, see [link to product description]. Figure 5 This application also provides an electronic device 500, comprising:

[0088] At least one processor 501; and a communication interface 503 communicatively connected to the at least one processor 501; the at least one processor 501 causes the electronic device 500 to perform the method steps performed by any device in the above method embodiments through the communication interface 503 by executing instructions stored in the memory 502.

[0089] Optionally, the memory 502 is located outside the electronic device 500.

[0090] Optionally, the electronic device 500 includes the memory 502, which is connected to the at least one processor 501, and stores instructions executable by the at least one processor 501. (Appendix) Figure 5 The dashed line indicates that memory 502 is optional for electronic device 500.

[0091] The processor 501 and the memory 502 can be coupled through an interface circuit or integrated together; no restriction is imposed here.

[0092] This application embodiment does not limit the specific connection medium between the processor 501, memory 502, and communication interface 503. This application embodiment... Figure 5 The processor 501, memory 502, and communication interface 503 are connected via a bus 504. Figure 5 The connections between other components are shown in bold and are for illustrative purposes only, not as limiting information. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, Figure 5 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0093] It should be understood that the processor mentioned in the embodiments of this application can be implemented in hardware or software. When implemented in hardware, the processor can be a logic circuit, integrated circuit, etc. When implemented in software, the processor can be a general-purpose processor, implemented by reading software code stored in memory.

[0094] For example, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0095] It should be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate Synchronous DRAM (DDR SDRAM), Enhanced Synchronous DRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct RAM (DR RAM).

[0096] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0097] It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0098] This application also provides a computer-readable storage medium for storing instructions that, when executed, cause a computer to perform the method steps performed by any of the devices in the above method examples.

[0099] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0101] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0102] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0103] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle simulation test method characterized by comprising: include: Load the test vehicle model and one or more reference vehicle models into the simulation environment; Identify at least one reference vehicle model that is within the preset range of the test vehicle model; Based on the traffic flow information of each of the at least one reference vehicle models, within a preset time period after the at least one reference vehicle model enters the preset range, it is determined whether each reference vehicle model has an impact on the test vehicle model. If the first reference vehicle model in the at least one reference vehicle model has an impact on the test vehicle model, then the dynamic model of the first reference vehicle model is invoked to test the test vehicle model; the dynamic model is used to describe the motion posture information of the reference vehicle model when it moves in the simulation environment. And / or, if the second reference vehicle model in the at least one reference vehicle model has no effect on the test vehicle model, then the dynamic model of the second reference vehicle model is not invoked.

2. The method of claim 1, wherein, After loading the test vehicle model and one or more reference vehicle models into the simulation environment, and before determining whether each reference vehicle model has an impact on the test vehicle model, the method further includes: Configure traffic flow information for the test vehicle model and the one or more reference vehicle models.

3. The method of claim 1, wherein, The step of determining whether each reference vehicle model has an impact on the test vehicle model based on the traffic flow information of each reference vehicle model in the at least one reference vehicle model includes: When any one of the at least one reference vehicle model is detected to enter the preset range from outside the preset range, within a preset time period after the reference vehicle model enters the preset range, it is determined whether the reference vehicle model has any impact on the test vehicle model.

4. The method of claim 1, wherein, The method further includes: When the speed of the test vehicle model is less than a first threshold, the preset range is determined based on the maximum detection distance of the test vehicle model's sensors; or, When the speed of the test vehicle model exceeds the first threshold, the preset range is determined based on the maximum detection distance of the sensor of the test vehicle model, the response time of the sensor, and the speed of the test vehicle model.

5. The method according to any one of claims 1 to 4, wherein The traffic flow information includes travel routes; The step of determining whether each reference vehicle model has an impact on the test vehicle model based on the traffic flow information of each reference vehicle model in the at least one reference vehicle model includes: If the driving path of any one of the at least one reference vehicle model overlaps with the driving path of the test vehicle model, then it is determined that any one of the at least one reference vehicle model has an impact on the test vehicle model; or... If the driving path of any one of the at least one reference vehicle model does not overlap with the driving path of the test vehicle model, it is determined that any one of the at least one reference vehicle model has no effect on the test vehicle model.

6. A vehicle simulation test apparatus characterized by comprising: include: The loading module is used to load the test vehicle model and one or more reference vehicle models into the simulation environment; The processing module is used to identify at least one reference vehicle model located within a preset range of the test vehicle model; based on the traffic flow information of each of the at least one reference vehicle model, within a preset time period after the at least one reference vehicle model enters the preset range, it determines whether each reference vehicle model has an impact on the test vehicle model; if the first reference vehicle model among the at least one reference vehicle model has an impact on the test vehicle model, then the dynamic model of the first reference vehicle model is invoked to test the test vehicle model; the dynamic model is used to describe the motion posture information of the reference vehicle model when it moves in the simulation environment; And / or, if the second reference vehicle model in the at least one reference vehicle model has no effect on the test vehicle model, then the dynamic model of the second reference vehicle model is not invoked.

7. The apparatus of claim 6, wherein, When the processing module determines whether each reference vehicle model has an impact on the test vehicle model based on the traffic flow information of each reference vehicle model in the at least one reference vehicle model, it is specifically used for: When it is detected that any one of the at least one reference vehicle model enters the preset range from outside the preset range, within a preset time period after the reference vehicle model enters the preset range, it is determined whether the reference vehicle model has any impact on the test vehicle model.

8. The apparatus of claim 6, wherein, The processing module is also used for: When the speed of the test vehicle model is less than a first threshold, the preset range is determined based on the maximum detection distance of the test vehicle model's sensors; or, When the speed of the test vehicle model exceeds the first threshold, the preset range is determined based on the maximum detection distance of the sensor of the test vehicle model, the response time of the sensor, and the speed of the test vehicle model.

9. The apparatus of claim 6, wherein, The traffic flow information includes travel routes; When the processing module determines whether each reference vehicle model has an impact on the test vehicle model based on the traffic flow information of each reference vehicle model in the at least one reference vehicle model, it is specifically used for: If the driving path of any one of the at least one reference vehicle model overlaps with the driving path of the test vehicle model, then it is determined that any one of the at least one reference vehicle model has an impact on the test vehicle model; or... If the driving path of any one of the at least one reference vehicle model does not overlap with the driving path of the test vehicle model, it is determined that any one of the at least one reference vehicle model has no effect on the test vehicle model.

10. An electronic device, comprising: include: At least one processor; And a memory and a communication interface that are communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, which, by executing the instructions stored in the memory, causes the electronic device to perform the method as described in any one of claims 1-5 through the communication interface.

11. A computer readable storage medium, characterized in that, The computer readable storage medium stores computer instructions which, when executed on a computer, cause the computer to perform the method of any one of claims 1-5.

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