A road surface simulation method and system based on scenario simulation software

Abstract

This invention provides a road surface simulation method and system based on scene simulation software. The method includes: constructing a virtual road surface environment scene using scene simulation software; using external sensors to identify specific viewpoint images rendered by the virtual sensor model and transmitting them to a domain controller; simulating different road surface conditions using random noise to obtain random noise signals, and superimposing the random noise signals with step signals to obtain simulated unevenness signals for different road surfaces; establishing a vehicle system dynamics model, and superimposing the simulated unevenness signals for different road surfaces with the vertical height of the road surface foundation set in the virtual road surface environment scene to obtain road surface unevenness signals; transmitting the road surface unevenness signals and control signals to the vehicle system dynamics model in real time to obtain the current vehicle model's attitude and sway information, and simultaneously transmitting this information to the built-in simulation system vehicle model and domain controller to achieve closed-loop feedback control of the data. This invention can accurately simulate the actual conditions of real road surfaces.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving system technology for automobiles, and specifically to a road surface simulation method and system based on scene simulation software. Background Technology

[0002] With the rapid development of the automotive industry in recent years, people have increasingly higher requirements for vehicle safety and functionality, making intelligent assisted driving a growing trend in the automotive industry. Simulation testing technology, using relevant simulation software, tests intelligent assisted driving products. Compared to real-vehicle testing, it carries lower safety risks, can simulate a wider variety of operating conditions, and significantly accelerates testing efficiency while reducing costs. Therefore, it has been widely adopted by major suppliers and automakers. However, the safety and functionality of automotive products still require real-vehicle testing. Therefore, enabling simulation systems to more realistically reflect the state of real vehicles, and how to simulate actual vehicle driving conditions (including environment, road surface, and driver operation) during the development process, has always been the most pressing issue for simulation testing technology.

[0003] Currently, the main methods for setting up virtual road surfaces in simulation systems are:

[0004] (1) The method of setting up the virtual scene using the built-in method of the scene simulation software follows the process of building the virtual scene exactly, setting parameters such as the adhesion coefficient of the road surface and the texture. This method is greatly limited by the scene simulation software. Most scene simulation software (such as Prescan, VTD, etc.) can only set the adhesion coefficient of the road surface and the texture according to its established setting process. The road in the virtual scene is actually completely flat and cannot simulate the noise-like random unevenness of the actual road surface. During the simulation, the vehicle's camera will remain stable on a completely flat road surface and there will be no camera image shaking caused by the uneven road surface, which does not match the actual situation.

[0005] (2) The method of collecting actual road surface information using specialized equipment requires the use of specialized equipment to collect information on various aspects of a real road surface, such as unevenness, adhesion coefficient, and material. This information is then transferred to the simulation system. Although this method can accurately reproduce the real characteristic parameters of the road surface, the cost of the collection equipment is usually high, and multiple collections are required for different materials such as gravel, cement, and asphalt roads, resulting in low efficiency and high time consumption. Furthermore, it cannot effectively simulate randomly appearing debris on the road surface. Due to the above factors, this method has insufficient applicability. Summary of the Invention

[0006] In view of this, embodiments of this application provide a road surface simulation method and system based on scene simulation software, which solves the problem that there is a large difference between the road surface unevenness of the virtual scene and the actual road surface in the current simulation process, so as to achieve the purpose of realistically simulating the actual road surface conditions.

[0007] This application provides the following technical solution: a road surface simulation method based on scene simulation software, comprising:

[0008] A virtual road environment scene is built using scene simulation software. The virtual road environment scene includes a static scene, a dynamic scene, and a virtual sensor model. The static scene refers to a scene in a static state on the virtual road surface, the dynamic scene refers to a scene in an active state on the virtual road surface, and the virtual sensor model is used to render a specific viewpoint image in the virtual road environment scene.

[0009] An external sensor is used to identify the specific viewpoint image rendered by the virtual sensor model, and the identified image information is transmitted to the domain controller to enable the domain controller to generate control signals.

[0010] Random noise is used to simulate the unevenness of different road surfaces to obtain random noise signals. These random noise signals are then superimposed with step signals to obtain simulation signals of unevenness on different road surfaces. The step signals are used to characterize the changes in the vertical height of the road surface.

[0011] A vehicle system dynamics model is established by simulating an actual vehicle. The simulated unevenness signals of different road surfaces are superimposed with the vertical height of the road surface foundation set in the virtual scene of the road environment to obtain the unevenness signal of the road surface.

[0012] The unevenness signal of the road surface and the control signal generated by the domain controller are transmitted to the vehicle system dynamics model in real time. The attitude and sway information of the current vehicle model are calculated and obtained in real time. The vehicle system dynamics model transmits the attitude and sway information of the current vehicle model to the vehicle model built into the scene simulation system, and at the same time transmits the attitude and sway information of the current vehicle model to the domain controller to realize closed-loop feedback control of data.

[0013] According to one embodiment of this application, before using an external sensor to identify the specific viewpoint image rendered by the virtual sensor model, the method further includes:

[0014] The recognition environment of the external sensor is set so that the external sensor can capture the complete image from the specific viewpoint;

[0015] The external sensor is calibrated based on the virtual sensor model so that the error between the identification information of the external sensor and the true value information of the virtual sensor model is within a specific range.

[0016] According to one embodiment of this application, the domain controller simultaneously receives the current vehicle model's attitude and sway information sent by the vehicle system dynamics model, and the image information sent by the external sensor. After calculating based on the control algorithm built into the domain controller, it issues a warning reminder or outputs a control signal to control the vehicle system dynamics model.

[0017] According to one embodiment of this application, the process of obtaining a random noise signal by simulating the unevenness of different road surfaces using random noise specifically includes:

[0018] First, based on the definition of road surface material and grade, and the corresponding actual road surface, obtain the two-dimensional correspondence data between basic road elevation information and road surface travel.

[0019] Then, based on the two-dimensional correspondence between the road elevation information and the road surface travel, the corresponding random noise signal coefficient is determined, and random noise is used to simulate the road surface unevenness caused by the road surface material and road grade to obtain the random noise signal.

[0020] According to one embodiment of this application, the process of superimposing the random noise signal with the step signal to obtain simulated unevenness signals for different road surfaces specifically includes:

[0021] By combining the actual road surface lateral height and slope information with the random noise signal and step signal, the three-dimensional correspondence between the elevation of the virtual road surface and the longitudinal and lateral coordinates of the road surface is obtained.

[0022] Based on the initial position of the vehicle on the virtual road surface and the wheelbase and track width of the vehicle model, the lateral and longitudinal coordinates of the contact points of each wheel of the vehicle model on the virtual road are obtained.

[0023] Based on the three-dimensional correspondence between the elevation of the virtual road surface and the longitudinal and transverse coordinates of the road surface, and the transverse and longitudinal coordinates of the contact points of each wheel of the vehicle model on the virtual road, the real-time road elevation information of each wheel contact point during the simulation is calculated.

[0024] According to one embodiment of this application, the process of combining the actual road surface lateral height and slope information with the random noise signal and step signal to obtain the three-dimensional correspondence between the elevation of the virtual road surface and the longitudinal and lateral coordinates of the road surface specifically includes:

[0025] The virtual road surface is gridded, and the elevation information at each grid point on the virtual road surface is calculated using the random noise signal and the step signal, so as to obtain the three-dimensional correspondence between the elevation of the virtual road surface and the longitudinal and transverse coordinates of the road surface.

[0026] This invention also provides a road surface simulation system based on scene simulation software, comprising:

[0027] A road surface simulation system, comprising a virtual simulation scene module, a vehicle simulation model module, and a road surface simulation module;

[0028] The simulated virtual scene module is used to build a virtual road environment scene; the virtual road environment scene includes a static scene, a dynamic scene and a virtual sensor model. The static scene refers to a scene in a static state in the virtual road surface, the dynamic scene refers to a scene in an active state in the virtual road surface, and the virtual sensor model is used to render a specific viewpoint image in the virtual road environment scene.

[0029] An external sensor is used to identify the specific viewpoint image rendered by the virtual sensor model and output the identified image information.

[0030] A domain controller, which is connected to the output of the external sensor, to receive the screen information and generate control signals;

[0031] The random noise signal and step signal generation module is used to simulate and generate different road surface unevenness simulation signals according to different road surface conditions;

[0032] The vehicle system dynamics model system has its input connected to the domain controller, the random noise signal and step signal generation module, and the simulated road surface module. It is used to acquire, in real time, simulated unevenness signals of different road surfaces and superimpose them with the vertical height of the road surface foundation set in the simulated road surface module to obtain the unevenness signal of the road surface. This signal, along with the control signal generated by the domain controller, is used to calculate and obtain the attitude and sway information of the current vehicle model in real time. This attitude and sway information of the current vehicle model is then transmitted to the simulated vehicle model module and the domain controller to achieve closed-loop feedback control of the data.

[0033] According to one embodiment of this application, it further includes a video dark box, in which a display screen is provided. The display screen is communicatively connected to the road scene simulation system and is used to display a specific perspective image of the virtual road environment scene rendered by the virtual sensor model for recognition by the external sensor.

[0034] According to one embodiment of this application, the external sensor is a camera sensor.

[0035] According to one embodiment of this application, the camera sensor is disposed in the video dark box to capture the complete image from the specific perspective.

[0036] Compared with existing technologies, the beneficial effects achieved by at least one of the above-mentioned technical solutions adopted in the embodiments of this specification include at least the following: Compared with the methods set by existing scene simulation software, the embodiments of this invention can more realistically simulate actual road conditions. Combined with high-precision Carsim vehicle system dynamics software, it can more realistically reproduce the shaking caused by a car driving on uneven roads, thereby testing the stability of the sensor under such shaking. In addition, compared with the method of collecting actual road information using professional equipment, this invention is low in cost, less time-consuming, and widely applicable. It can customize road height information according to various complex road conditions to realistically simulate actual road conditions, and has certain representativeness and practical value. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the road surface simulation method according to an embodiment of the present invention;

[0039] Figure 2 This is a schematic diagram of a road surface simulation system according to an embodiment of the present invention. Detailed Implementation

[0040] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0041] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments, providing a clear and complete description of the technical solutions of the present invention. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1 As shown, this embodiment of the invention provides a road surface simulation method based on scene simulation software, including:

[0043] S1. Use scene simulation software to build a virtual road environment scene; the virtual road environment scene includes a static scene, a dynamic scene and a virtual sensor model, the static scene refers to a scene in a static state in the virtual road surface, the dynamic scene refers to a scene in an active state in the virtual road surface, and the virtual sensor model is used to render a specific viewpoint image in the virtual road environment scene.

[0044] In this process, virtual scenarios are built using scenario simulation software. This software includes, but is not limited to, VTD, Prescan, ScaneR, and Carla. This embodiment uses VTD (Virtual Test Drive) as an example to illustrate the specific implementation method, which mainly includes:

[0045] 1.1 Build a static scene. According to the operation specifications, build roads such as straight roads, curves, or intersections, select the required road textures, lane lines, road markings, etc., and set the friction coefficient of the roads.

[0046] 1.2 Build dynamic scenarios: Based on the static road network in the previous step, build dynamic scenarios such as traffic flow, pedestrian flow, and traffic lights according to the simulation test requirements to simulate actual road scenarios;

[0047] 1.3 Set up a virtual sensor model. Based on the actual sensor installation positions of intelligent assisted driving vehicles, set up virtual sensor models of cameras at the corresponding positions of the vehicle in the simulation software. The camera sensor renders and transmits the image from this specific perspective to the display screen in the video dark box.

[0048] 1.4 Shield the vehicle system dynamics model inside the simulation software and set up the interface to receive vehicle state information from the external vehicle dynamics model.

[0049] S2. An external sensor is used to identify the specific viewpoint image rendered by the virtual sensor model, and the identified image information is transmitted to the domain controller to enable the domain controller to generate control signals;

[0050] In practice, this step involves placing external sensors inside a video darkroom and using a camera sensor to identify the simulated image within the darkroom. The process specifically includes:

[0051] 2.1. Calculate the distance and height between the camera sensor and the center of the display screen based on the actual field of view (Fov) information of the camera and the size of the display screen, so that the camera is facing the screen and can capture the specific angle image output by the simulation software in its entirety.

[0052] 2.2. The camera sensor inside the video dark box is calibrated to control the error between the camera's perceived information and the true information of the scene simulation software within a certain range.

[0053] 2.3 The camera sensor identifies the simulated specific viewpoint and transmits a series of signals, such as the type of target object, distance, and relative speed, to the domain controller.

[0054] S3. Random noise is used to simulate the unevenness of different road surfaces to obtain random noise signals. These random noise signals are then superimposed with step signals to obtain simulation signals of unevenness on different road surfaces. The step signals are used to characterize the changes in the vertical height of the road surface.

[0055] In the specific implementation of this step, when obtaining simulation signals of unevenness on different road surfaces, it is necessary to acquire the three-dimensional correspondence between road surface elevation and the longitudinal and transverse coordinates of the road surface, specifically including:

[0056] 3.1 Based on the definition of road surface material and grade and referring to the corresponding actual road surface, a two-dimensional correspondence between basic road elevation information and road surface travel is obtained;

[0057] 3.2 Based on the above data on the correspondence between road elevation and road surface travel, determine the corresponding random noise signal coefficients and use random noise to simulate the minor unevenness of the road surface caused by road surface material (such as cement road surface, asphalt road surface, gravel road surface, etc.) and road grade (expressway, first-class highway, second-class highway, etc.).

[0058] The random noise signal coefficients mentioned above can be amplified or reduced by adjusting the magnification of the random noise signal to adapt to different road surfaces. The random noise signal coefficients are mainly obtained based on the road grade and material, as well as observations of actual road surfaces; these values ​​are empirical.

[0059] 3.3. Referring to the actual road surface lateral height and slope information (generally, urban roads are higher in the middle and lower on both sides) and combined with the determined random noise signal, the road is gridded and the random noise signal is used to calculate the road elevation information at each grid point on the road, so as to obtain the three-dimensional correspondence between the road surface elevation and the road surface longitudinal and lateral coordinates.

[0060] 3.4. If obstacles, speed bumps, debris, etc. need to be added to the road according to the simulation requirements, a step signal is added to the corresponding position of the road coordinates, and the elevation information of the corresponding coordinate point is modified to obtain the final three-dimensional correspondence between the road surface elevation and the longitudinal and transverse coordinates of the road surface.

[0061] S4. Simulate the actual vehicle to establish a vehicle system dynamics model, and superimpose the simulated unevenness signals of different road surfaces with the vertical height of the road surface foundation set in the virtual scene of the road environment to obtain the unevenness signal of the road surface.

[0062] Establish a vehicle system dynamics model to simulate a real vehicle. (Vehicle system dynamics models include, but are not limited to, commercial software such as Carsim / Trucksim and Adams, as well as high-degree-of-freedom system models in Simulink. This embodiment uses Carsim as an example to illustrate the specific implementation method.) Specifically, it includes the following steps:

[0063] 4.1. Benchmark the Carsim vehicle system dynamics model against the real vehicle. Set the detailed parameters in the Carsim model (such as curb weight, wheelbase, steering ratio, roll coefficient, etc.) to match those of the real vehicle. Test the real vehicle and the Carsim vehicle dynamics model under the same input conditions. Control the output parameters of the model and the real vehicle within a certain error range.

[0064] 4.2. Real-time reception of simulated road surface signals from the simulation system. Based on the initial position of the vehicle on the virtual road surface and the wheelbase and track width of the vehicle model, the lateral and longitudinal coordinates of each wheel contact point on the virtual road can be obtained. Based on the three-dimensional correspondence between these lateral and longitudinal coordinates and the final road surface elevation and longitudinal and lateral coordinates obtained in step 3.4, the real-time road elevation information of each wheel contact point during the simulation can be obtained. This information is then superimposed with the road surface adhesion coefficient and the foundation vertical height z0 set on the virtual road surface to obtain the road surface unevenness signal, which is then transmitted to the wheel Z-axis height of the Carsim vehicle dynamics model. This simulates the vehicle's driving on an uneven road surface.

[0065] S5. The unevenness signal of the road surface and the control signal generated by the domain controller are transmitted to the vehicle system dynamics model in real time. The attitude and sway information of the current vehicle model are calculated and obtained in real time. The vehicle system dynamics model transmits the attitude and sway information of the current vehicle model to the vehicle model built into the scene simulation software, and at the same time transmits the attitude and sway information of the current vehicle model to the domain controller to realize closed-loop feedback control of data.

[0066] The current vehicle model's attitude and sway information includes: vehicle's XYZ three-dimensional displacement, velocity, acceleration, roll angle, yaw angle, pitch angle, and other vehicle attitude information.

[0067] The shaking of the vehicle model built into the simulation software will cause the virtual scene image transmitted to the virtual sensor model from a specific perspective to produce the same shaking as when driving on a real road. This is to simulate the actual driving conditions more realistically and test the stability of the sensor's recognition ability under such shaking.

[0068] The vehicle system dynamics model (Carsim vehicle dynamics model) receives control signals in real time: The vehicle model receives signals such as steering wheel angle and longitudinal acceleration output from the domain controller and calculates the vehicle's motion state in real time by combining them with the road surface input from step 4.2. It also outputs vehicle state signals in real time. Based on the previous inputs, the Carsim vehicle model transmits the calculated vehicle speed, displacement, acceleration, yaw rate, steering wheel angle, brake pedal position, and other vehicle body attitude and sway information to the scene simulation software VTD and the domain controller, achieving data closure.

[0069] In addition to receiving a series of signals from external sensors, such as the type of target object, distance, and relative speed perceived by the camera, the domain controller also receives information from the vehicle system dynamics model (Carsim vehicle dynamics model), such as vehicle speed, yaw rate, steering wheel angle, and brake pedal position. Combining the information from external sensors, the domain controller issues warnings or outputs steering wheel angle, longitudinal acceleration, and braking signals to control the Carsim vehicle model based on the internal control algorithm (ADAS system's AEB / ACC / LKA algorithm).

[0070] In the road surface simulation method of the present invention, random noise is used to simulate the minor unevenness of the road surface caused by the road surface material. Different random noise coefficients are set according to different road surface materials (such as cement road surface, asphalt road surface, gravel road surface, etc.). Several step signals are added to represent the changes in the vertical height of the road surface caused by road surface damage or debris on the road surface. These two mathematical signals are superimposed to simulate different road surface conditions.

[0071] like Figure 2 As shown, this embodiment takes VTD (Virtual Test Drive) as an example to provide a road surface simulation system based on scene simulation software, including:

[0072] A road surface simulation system, comprising a virtual simulation scene module (shown as a VTD virtual scene), a vehicle simulation model module (shown as a VTD vehicle model), and a road surface simulation module (shown as a VTD road surface);

[0073] The simulated virtual scene module is used to build a virtual road environment scene; the virtual road environment scene includes a static scene, a dynamic scene and a virtual sensor model. The static scene refers to a scene in a static state in the virtual road surface, the dynamic scene refers to a scene in an active state in the virtual road surface, and the virtual sensor model is used to render a specific viewpoint image in the virtual road environment scene.

[0074] It also includes a video dark box, in which a display screen is installed. The display screen is communicatively connected to the road scene simulation system and is used to display specific perspective images of the virtual road environment scene rendered by the virtual sensor model for external sensors to identify.

[0075] An external sensor, specifically a camera sensor, is installed in the video darkroom to identify the specific viewpoint image rendered by the virtual sensor model and output the identified image information.

[0076] A domain controller, which is connected to the output of the external sensor, to receive the screen information and generate control signals;

[0077] The random noise signal and step signal generation module is used to simulate and generate different road surface unevenness simulation signals according to different road surface conditions;

[0078] The vehicle system dynamics model system (illustrated as Carsim) has its input terminals connected to the domain controller, the random noise signal and step signal generation module, and the simulated road surface module. It is used to acquire, in real time, simulated unevenness signals of different road surfaces and superimpose them with the vertical height of the road surface foundation set in the simulated road surface module to obtain the road surface unevenness signal. This signal, along with the control signal generated by the domain controller, is used to calculate and obtain the current vehicle model's attitude and sway information in real time. This attitude and sway information is then transmitted to the simulated vehicle model module and the domain controller to achieve closed-loop feedback control of the data.

[0079] In the road simulation system of this invention, since the calculation frequency of the vehicle system dynamics model is usually high while the calculation frequency of the virtual scene is low, in order to ensure real-time synchronization of the calculation, the vehicle system dynamics model is imported into a physical real-time machine (including but not limited to NI, dspace, etc.) to ensure real-time synchronization of the entire simulation system.

[0080] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A road surface simulation method based on scene simulation software, characterized in that, include: Use scene simulation software to build a virtual scene of the road environment; The virtual road environment scene includes a static scene, a dynamic scene, and a virtual sensor model. The static scene refers to a scene in a static state on the virtual road surface, the dynamic scene refers to a scene in a dynamic state on the virtual road surface, and the virtual sensor model is used to render a specific viewpoint image in the virtual road environment scene. An external sensor is used to identify the specific viewpoint image rendered by the virtual sensor model, and the identified image information is transmitted to the domain controller to enable the domain controller to generate control signals. Random noise is used to simulate the unevenness of different road surfaces to obtain random noise signals. These random noise signals are then superimposed with step signals to obtain simulation signals of unevenness on different road surfaces. The step signals are used to characterize the changes in the vertical height of the road surface. A vehicle system dynamics model is established by simulating an actual vehicle. The simulated unevenness signals of different road surfaces are superimposed with the vertical height of the road surface foundation set in the virtual scene of the road environment to obtain the unevenness signal of the road surface. The unevenness signal of the road surface and the control signal generated by the domain controller are transmitted to the vehicle system dynamics model in real time. The attitude and sway information of the current vehicle model are calculated and obtained in real time. The vehicle system dynamics model transmits the attitude and sway information of the current vehicle model to the vehicle model built into the scene simulation system, and at the same time transmits the attitude and sway information of the current vehicle model to the domain controller to realize closed-loop feedback control of data.

2. The road surface simulation method based on scene simulation software according to claim 1, characterized in that, Before using external sensors to identify the specific viewpoint image rendered by the virtual sensor model, the process further includes: The recognition environment of the external sensor is set so that the external sensor can capture the complete image from the specific viewpoint; The external sensor is calibrated based on the virtual sensor model so that the error between the identification information of the external sensor and the true value information of the virtual sensor model is within a specific range.

3. The road surface simulation method based on scene simulation software according to claim 1, characterized in that, The domain controller simultaneously receives the current vehicle model's attitude and sway information sent by the vehicle system dynamics model, and the image information sent by the external sensors. After calculating based on the control algorithm built into the domain controller, it issues a warning or outputs a control signal to control the vehicle system dynamics model.

4. The road surface simulation method based on scene simulation software according to claim 1, characterized in that, The process of simulating the unevenness of different road surfaces using random noise and obtaining random noise signals specifically includes: First, based on the definition of road surface material and grade, and the corresponding actual road surface, obtain the two-dimensional correspondence data between basic road elevation information and road surface travel. Then, based on the two-dimensional correspondence between the road elevation information and the road surface travel, the corresponding random noise signal coefficient is determined, and random noise is used to simulate the road surface unevenness caused by the road surface material and road grade to obtain the random noise signal.

5. The road surface simulation method based on scene simulation software according to claim 4, characterized in that, The process of superimposing the random noise signal with the step signal to obtain simulated unevenness signals for different road surfaces specifically includes: By combining the actual road surface lateral height and slope information with the random noise signal and step signal, the three-dimensional correspondence between the elevation of the virtual road surface and the longitudinal and lateral coordinates of the road surface is obtained. Based on the initial position of the vehicle on the virtual road surface and the wheelbase and track width of the vehicle model, the lateral and longitudinal coordinates of the contact points of each wheel of the vehicle model on the virtual road are obtained. Based on the three-dimensional correspondence between the elevation of the virtual road surface and the longitudinal and transverse coordinates of the road surface, and the transverse and longitudinal coordinates of the contact points of each wheel of the vehicle model on the virtual road, the real-time road elevation information of each wheel contact point during the simulation is calculated.

6. The road surface simulation method based on scene simulation software according to claim 5, characterized in that, The process of combining the actual road surface lateral height and slope information with the random noise signal and step signal to obtain the three-dimensional correspondence between the elevation of the virtual road surface and the longitudinal and lateral coordinates of the road surface specifically includes: The virtual road surface is gridded, and the elevation information at each grid point on the virtual road surface is calculated using the random noise signal and the step signal, so as to obtain the three-dimensional correspondence between the elevation of the virtual road surface and the longitudinal and transverse coordinates of the road surface.

7. A road surface simulation system based on scene simulation software, characterized in that, include: A road surface simulation system, comprising a virtual simulation scene module, a vehicle simulation model module, and a road surface simulation module; The simulated virtual scene module is used to build a virtual road environment scene; the virtual road environment scene includes a static scene, a dynamic scene and a virtual sensor model. The static scene refers to a scene in a static state in the virtual road surface, the dynamic scene refers to a scene in an active state in the virtual road surface, and the virtual sensor model is used to render a specific viewpoint image in the virtual road environment scene. An external sensor is used to identify the specific viewpoint image rendered by the virtual sensor model and output the identified image information. A domain controller, which is connected to the output of the external sensor, to receive the screen information and generate control signals; The random noise signal and step signal generation module is used to simulate and generate different road surface unevenness simulation signals according to different road surface conditions; The vehicle system dynamics model system has its input connected to the domain controller, the random noise signal and step signal generation module, and the simulated road surface module. It is used to acquire, in real time, simulated unevenness signals of different road surfaces and superimpose them with the vertical height of the road surface foundation set in the simulated road surface module to obtain the unevenness signal of the road surface. This signal, along with the control signal generated by the domain controller, is used to calculate and obtain the attitude and sway information of the current vehicle model in real time. This attitude and sway information of the current vehicle model is then transmitted to the simulated vehicle model module and the domain controller to achieve closed-loop feedback control of the data.

8. The road surface simulation system based on scene simulation software according to claim 7, characterized in that, This also includes video darkroom, The video dark box is equipped with a display screen, which is communicatively connected to the road scene simulation system. The display screen is used to display specific perspective images of the virtual road environment scene rendered by the virtual sensor model, so that the external sensors can identify them.

9. The road surface simulation system based on scene simulation software according to claim 8, characterized in that, The external sensor is a camera sensor.

10. The road surface simulation system based on scene simulation software according to claim 9, characterized in that, The camera sensor is installed in the video darkroom to capture the complete image from the specific perspective.

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