Vehicle simulation method, device, storage medium and equipment

Abstract

The application discloses a vehicle simulation method and device, a storage medium and equipment. The method comprises the following steps: collecting a control signal generated by a rocker mechanical response to a user triggered operation behavior; determining a vehicle control variable based on the control signal; generating a dynamic simulation signal based on the vehicle control variable, a current vehicle speed and a current steering angle of a simulation vehicle; obtaining road surface information corresponding to a current position coordinate and a current attitude angle from a high-precision map; importing the road surface information and the dynamic simulation signal into a dynamic model of the simulation vehicle to obtain the latest vehicle state information output by the dynamic model; and generating a simulation animation of a driving process of the simulation vehicle based on the high-precision map, the latest vehicle speed, the latest steering angle, the latest position coordinate and the latest attitude angle, and displaying the simulation animation to a user through a preset interface. The method can simulate different road surface scenes, thereby ensuring the realization of vehicle simulation for continuous iteration of a vehicle rocker control algorithm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle simulation method and device, a storage medium and equipment. BACKGROUND

[0002] With the continuous development of drive-by-wire technology, the steering mechanism of the vehicle gradually changes from the traditional mechanical fixed transmission mode to the transmission of electrical signals of the steering control quantity (steer-by-wire), which brings about the innovation of the steering device to adapt to different driving needs. The rocker device can greatly reduce the occupied space of the steering device, making it possible to redesign the driver's cabin. Due to the large difference in stroke between the traditional steering wheel and the rocker, the steering angle range of the commercial vehicle based on the steering wheel is-900 degrees to 900 degrees, while the rotation range of the wheel is-40 degrees to 40 degrees, and the transmission ratio is 20:1. Based on the smaller stroke of the rocker, the transmission ratio is 1:1, which makes the traditional steering wheel transmission ratio control algorithm unable to be applied to the steering system based on the rocker or other new mechanisms. In addition, the vehicle control mode based on the rocker has the problem of difficult precise control, and the structural characteristics of the rocker are prone to small disturbances at the center position, which is high-risk for driving.

[0003] In order to avoid unnecessary interference and ensure the stability and safety of vehicle driving, the rocker steering control algorithm needs to be fully simulated and verified in the simulation stage to ensure the safety of real vehicle experiments and the stability of batch deployment. Therefore, it is necessary to simulate the vehicle rocker control algorithm.

[0004] The current rocker simulation scheme only uses vehicle dynamics simulation software (such as CarSim, etc.) to simply simulate the road simulation setup, and then continuously optimizes and improves the algorithm according to the simulation results. This method iterates relatively quickly, but the scene coverage rate of the setup is insufficient, and it is not possible to fully simulate complex scenarios when landing, which makes the debugging of the steering characteristics of the vehicle and the algorithm iteration (algorithm iteration can be understood as algorithm optimization) unable to adapt to the needs of actual application scenarios. SUMMARY

[0005] The present application provides a vehicle simulation method, device, storage medium and equipment, aiming to realize continuous iteration of the vehicle rocker control algorithm.

[0006] In order to achieve the above purpose, the present application provides the following technical solutions:

[0007] A vehicle simulation method, comprising:

[0008] Collecting control signals generated by the user triggered operation behavior of the mechanical response of the rocker;

[0009] determine a vehicle control variable based on the control signal;

[0010] generate a dynamics simulation signal based on the vehicle control variable, and a current vehicle speed and a current steering angle of the simulation vehicle that are pre-constructed;

[0011] obtain road surface information corresponding to a current position coordinate and a current attitude angle of the simulation vehicle from a preset high-precision map;

[0012] input the road surface information and the dynamics simulation signal into a dynamics model of the simulation vehicle to obtain latest vehicle state information output by the dynamics model; the latest vehicle state information includes a latest vehicle speed, a latest steering angle, a latest position coordinate, and a latest attitude angle of the simulation vehicle;

[0013] generate a simulation animation of a driving process of the simulation vehicle based on the high-precision map and the latest vehicle speed, the latest steering angle, the latest position coordinate, and the latest attitude angle of the simulation vehicle, and display the simulation animation to the user through a preset interface.

[0014] Optionally, the determining of the vehicle control variable based on the control signal comprises:

[0015] analog-to-digital conversion of the control signal to obtain a digital signal;

[0016] analysis of the digital signal to obtain a target direction degree of freedom;

[0017] in a case where the target direction degree of freedom includes a front degree of freedom, reading an accelerator pedal opening degree corresponding to the target direction degree of freedom from a pre-constructed vehicle speed correction factor reference table as the vehicle control variable.

[0018] Optionally, the method further comprises:

[0019] in a case where the target direction degree of freedom includes a rear degree of freedom, reading a brake pedal opening degree corresponding to the target direction degree of freedom from the vehicle speed correction factor reference table as the vehicle control variable.

[0020] Optionally, the method further comprises:

[0021] in a case where the target direction degree of freedom includes any one of a left degree of freedom and a right degree of freedom, reading a front wheel steering angle corresponding to the target direction degree of freedom from a pre-constructed steering angle correction factor reference table as the vehicle control variable.

[0022] Optionally, the construction process of the vehicle speed correction factor reference table comprises:

[0023] pre-acquiring a value range of the front degree of freedom and a value range of the rear degree of freedom of the rocker mechanism.

[0024] Based on the preset range of the accelerator pedal opening and the range of the front degree of freedom, a first mapping table is constructed; the first mapping table includes the correspondence between the accelerator pedal opening and the front degree of freedom.

[0025] Based on the preset range of the brake pedal opening of the vehicle and the range of the rear degree of freedom, a second mapping table is constructed; the second mapping table includes the correspondence between the brake pedal opening and the rear degree of freedom.

[0026] The combination of the first mapping table and the second mapping table is identified as the vehicle speed correction factor lookup table.

[0027] Optionally, the process of constructing the angle correction factor lookup table includes:

[0028] The range of values ​​for the left degree of freedom and the range of values ​​for the right degree of freedom of the joystick mechanism are collected in advance;

[0029] Based on the preset range of the vehicle's front wheel steering angle, and the respective ranges of the left and right degrees of freedom, a third mapping table is constructed; the third mapping table includes the correspondence between the front wheel steering angle, the left degree of freedom, and the right degree of freedom;

[0030] The third mapping table is identified as the corner correction factor lookup table.

[0031] A vehicle simulation device, comprising:

[0032] The joystick actuator unit is used to collect control signals generated by the joystick's mechanical response to user-triggered operations.

[0033] A joystick control unit is used to determine vehicle control variables based on the control signal;

[0034] The joystick control unit is also used to generate dynamic simulation signals based on the vehicle control variables and the pre-built simulation vehicle's current speed and current steering angle;

[0035] The scene simulation unit is used to obtain road surface information from a preset high-precision map that corresponds to the current position coordinates of the simulated vehicle and the current attitude angle of the simulated vehicle.

[0036] The vehicle dynamics simulation unit is used to import the road surface information and the dynamics simulation signal into the dynamics model of the simulated vehicle to obtain the latest vehicle state information output by the dynamics model; the latest vehicle state information includes the latest vehicle speed, latest turning angle, latest position coordinates, and latest attitude angle of the simulated vehicle.

[0037] The scene simulation unit is further configured to generate a simulation animation of the driving process of the simulation vehicle based on the high-precision map and the latest vehicle speed, the latest steering angle, the latest position coordinates, and the latest attitude angle of the simulation vehicle, and display the simulation animation to the user through a preset interface.

[0038] Optionally, the rocker control unit is specifically configured to:

[0039] analog-to-digital conversion of the control signal to obtain a digital signal;

[0040] parsing of the digital signal to obtain a target direction degree of freedom;

[0041] in a case where the target direction degree of freedom includes a front degree of freedom, reading, from a pre-constructed vehicle speed correction factor reference table, an accelerator pedal opening degree corresponding to the target direction degree of freedom as a vehicle control variable.

[0042] A storage medium comprising a stored program, wherein the program, when executed by a processor, performs the vehicle simulation method.

[0043] A vehicle simulation device comprising a processor, a memory, and a bus; the processor is connected with the memory through the bus;

[0044] The memory is configured to store a program, and the processor is configured to run the program, wherein the program, when executed by the processor, performs the vehicle simulation method.

[0045] The technical scheme provided in the present application collects a control signal generated by a rocker mechanical response to an operation behavior triggered by a user. Based on the control signal, a vehicle control variable is determined. Based on the vehicle control variable and a pre-constructed current vehicle speed and current steering angle of a simulation vehicle, a dynamic simulation signal is generated. From a preset high-precision map, road surface information corresponding to the current position coordinates of the simulation vehicle and corresponding to the current attitude angle of the simulation vehicle is obtained. The road surface information and the dynamic simulation signal are imported into a dynamic model of the simulation vehicle to obtain the latest vehicle state information output by the dynamic model. Based on the high-precision map and the latest vehicle speed, the latest steering angle, the latest position coordinates, and the latest attitude angle of the simulation vehicle, a simulation animation of the driving process of the simulation vehicle is generated, and the simulation animation is displayed to the user through a preset interface. The present application generates a simulation animation of the driving process of the simulation vehicle, which fully considers the influence of the dynamic model of the simulation vehicle and the high-precision map on the vehicle rocker control algorithm, can simulate different road surface scenes, and thus ensures the realization of continuous iteration of the vehicle simulation for the vehicle rocker control algorithm. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only only some embodiments of the present application, and do not represent all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of the present application.

[0047] Figure 1a An architectural schematic diagram of a vehicle simulation system provided by an embodiment of the present application is shown in the figure.

[0048] Figure 1b A flow schematic diagram of a vehicle simulation method provided by an embodiment of the present application is shown in the figure.

[0049] Figure 1c A flow schematic diagram of another vehicle simulation method provided by an embodiment of the present application is shown in the figure.

[0050] Figure 1d An architectural schematic diagram of another vehicle simulation system provided by an embodiment of the present application is shown in the figure.

[0051] Figure 1e A signal input and output schematic diagram provided by an embodiment of the present application is shown in the figure.

[0052] Figure 1f Another signal input and output schematic diagram provided by an embodiment of the present application is shown in the figure.

[0053] Figure 1g Another signal input and output schematic diagram provided by an embodiment of the present application is shown in the figure.

[0054] Figure 1h Another signal input and output schematic diagram provided by an embodiment of the present application is shown in the figure.

[0055] Figure 2 A flow schematic diagram of another vehicle simulation method provided by an embodiment of the present application is shown in the figure.

[0056] Figure 3 An architectural schematic diagram of a vehicle simulation device provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments only represent some of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of the present application.

[0058] As Figure 1aAs shown, an architecture schematic diagram of a vehicle simulation system provided by an embodiment of the present application is shown, which includes the following modules.

[0059] The rocker execution end 100, the rocker control module 200, the vehicle dynamics simulation module 300, and the scene simulation module 400.

[0060] The rocker execution end 100 includes a signal collector 101 and an analog-to-digital converter 102, the rocker control module 200 includes but is not limited to a Joysticker APP and other host computer software, the vehicle dynamics simulation module 300 includes but is not limited to CarSim, ModelBase, and other dynamics simulation software, and the scene simulation module 400 includes but is not limited to VTD and other map software.

[0061] Specifically, the rocker execution end 100 is configured to: use the signal collector 101 to collect a control signal generated by the rocker mechanism in response to a user triggering operation behavior; use the analog-to-digital converter 102 to convert the collected control signal into a digital signal; and upload the digital signal to a preset data serial port (for example, an RS232 data serial port).

[0062] The rocker control module 200 is configured to: read the digital signal in the preset data serial port and analyze the digital signal to obtain a target direction freedom degree; receive current vehicle state information (including a current vehicle speed, a current steering angle, a current position coordinate, and a current attitude angle of the simulation vehicle) sent by the vehicle dynamics simulation module 300; determine a throttle pedal opening degree, a brake pedal opening degree, and a front wheel steering angle corresponding to the target direction freedom degree based on a pre-constructed vehicle speed correction factor lookup table, a steering angle correction factor lookup table, and the target direction freedom degree; generate a dynamics simulation signal corresponding to the throttle pedal opening degree, the brake pedal opening degree, and the front wheel steering angle corresponding to the target direction freedom degree, and the current vehicle speed and the current steering angle of the simulation vehicle; and send the dynamics simulation signal to the vehicle dynamics simulation module 300.

[0063] It should be noted that the determination of the throttle pedal opening degree, the brake pedal opening degree, and the front wheel steering angle corresponding to the target direction freedom degree based on the pre-constructed vehicle speed correction factor lookup table, the steering angle correction factor lookup table, and the target direction freedom degree can be implemented by calling a preset vehicle control signal processing logic.

[0064] Specifically, the vehicle control signal processing logic includes: based on the vehicle speed correction factor lookup table, mapping a pushing stroke amount from the rocker center of the rocker mechanism to the front of the rocker to the throttle pedal opening degree (measured in percentage), and optimizing the throttle pedal opening degree according to a preset commercial vehicle throttle percentage relationship (that is, the opening degree value corresponding to the vehicle operation mode can be set as the throttle pedal opening degree, and the vehicle operation mode includes a parking mode and a normal mode).

[0065] The vehicle control signal processing logic includes: for the low-speed scene of the vehicle, and the characteristics of the slight jitter after the mis-touch at the center position of the rocker, the vehicle speed correction factor table contains a pre-set mapping dead zone, when the target direction degree of freedom is in the mapping dead zone, the throttle pedal opening is corrected, and the corrected throttle pedal opening is ensured to be 0, so as to prevent the vehicle from accelerating due to the mis-operation of the rocker mechanism.

[0066] The vehicle control signal processing logic includes: based on the vehicle speed correction factor table, the pulling stroke amount from the center of the rocker to the rear of the rocker is mapped to the brake pedal opening (in percentage), and the brake pedal opening is optimized according to the pre-set commercial vehicle brake pedal percentage relationship (that is, the opening value corresponding to the brake resolution can be set as the brake pedal opening, and the brake resolution is used to indicate the brake pedal response at different speeds).

[0067] The vehicle control signal processing logic includes: for the braking scene of the vehicle, and the characteristics of the slight jitter after the mis-touch at the center position of the rocker, the vehicle speed correction factor table contains a pre-set mapping dead zone, that is, when the target direction degree of freedom is in the mapping dead zone, the brake pedal opening is corrected, and the corrected brake pedal opening is ensured to be 0, so as to prevent mis-braking.

[0068] The vehicle control signal processing logic includes: based on the turning angle correction factor table, the left-right horizontal stroke amount from the center of the rocker to the left side to the right side of the rocker is mapped to the front wheel turning angle, and for the characteristics of the slight jitter after the mis-touch at the center position of the rocker, the turning angle correction factor table contains a pre-set mapping dead zone, that is, when the target direction degree of freedom is in the mapping dead zone, the front wheel turning angle is corrected, and the corrected front wheel turning angle is 0 degrees, so as to prevent the vehicle from mis-operating steering.

[0069] In the embodiment of the application, the process of the socket is used as a communication channel for data interaction between the rocker control module 200 and the vehicle dynamics simulation module 300.

[0070] The vehicle dynamics simulation module 300 is configured to: receive the road surface information sent by the scene simulation module 400 and the dynamics simulation signal sent by the rocker control module 200; import the road surface information and the dynamics simulation signal into a dynamics model of a simulation vehicle to obtain latest vehicle state information output by the dynamics model, wherein the latest vehicle state information includes a latest vehicle speed, a latest turning angle, a latest position coordinate and a latest attitude angle of the simulation vehicle; and send the latest vehicle speed, the latest turning angle, the latest position coordinate and the latest attitude angle of the simulation vehicle to the scene simulation module 400.

[0071] Generally, the vehicle dynamics simulation module 300 realizes the simulation of the vehicle by configuring the parameters of the vehicle body, tires, suspension system, steering system, braking system and power system of the vehicle, and generates a simulation vehicle to restore the dynamics model of the vehicle as accurately as possible. Due to the limitations of the vehicle simulation software, it is impossible to restore the actual running scene and road condition state of the vehicle with high fidelity. Therefore, the road surface information simulated by the scene simulation module 400 needs to be imported into the dynamics model.

[0072] The scene simulation module 400 is configured to: pre-build a high-precision map; obtain road surface information corresponding to the current position coordinates and the current attitude angle from the pre-set high-precision map; generate a simulation animation of the driving process of the simulation vehicle based on the high-precision map and the latest vehicle speed, the latest turning angle, the latest position coordinates and the latest attitude angle of the simulation vehicle, and display the simulation animation to the user through a pre-set interface.

[0073] Optionally, the specific implementation process of the vehicle simulation system for vehicle simulation is as shown in Figure 1b and Figure 1c The specific implementation process includes the following steps.

[0074] S101: Pre-collect the value range of each direction degree of freedom of the rocker mechanism.

[0075] The each direction degree of freedom includes a front degree of freedom, a rear degree of freedom, a left degree of freedom and a right degree of freedom.

[0076] It should be noted that after S101 is executed, S102-S106 and S107 can be executed concurrently, or S102-S106 can be executed first and then S107.

[0077] S102: Construct a first mapping relationship table based on the pre-set value range of the accelerator pedal opening degree of the vehicle and the value range of the front degree of freedom.

[0078] The first mapping relationship table includes the corresponding relationship between the accelerator pedal opening degree and the front degree of freedom.

[0079] S103: Construct a second mapping relationship table based on the pre-set value range of the brake pedal opening degree of the vehicle and the value range of the rear degree of freedom.

[0080] The second mapping relationship table includes the corresponding relationship between the brake pedal opening degree and the rear degree of freedom.

[0081] S104: Construct a third mapping relationship table based on the pre-set value range of the front wheel steering angle of the vehicle and the value range of the left degree of freedom and the value range of the right degree of freedom.

[0082] The third mapping relationship includes the corresponding relationship between the front wheel steering angle, the left degree of freedom and the right degree of freedom.

[0083] S105: Set the mapping dead zone in the first mapping relationship table, the second mapping relationship table and the third mapping relationship table based on the steering characteristics of the rocker mechanism and the driving scene of the vehicle.

[0084] The steering characteristics of the rocker mechanism are that after the center position of the rocker mechanism is accidentally touched, slight jitter will occur, causing a small amount of change in the left degree of freedom and the right degree of freedom. In the case of sudden braking and sudden acceleration of the vehicle, slight disturbance of the front degree of freedom and the rear degree of freedom of the rocker mechanism will occur.

[0085] It should be noted that the mapping dead zone of the first mapping relationship table includes the corresponding relationship between the front degree of freedom and the preset accelerator pedal opening degree, and the preset accelerator pedal opening degree is 0.

[0086] The mapping dead zone of the second mapping relationship table includes the corresponding relationship between the rear degree of freedom and the preset brake pedal opening degree, and the preset brake pedal opening degree is 0.

[0087] The mapping dead zone of the third mapping relationship table includes the corresponding relationship between the left degree of freedom, the right degree of freedom and the preset front wheel steering angle, and the preset front wheel steering angle is 0.

[0088] Generally speaking, the biggest difference between the rocker mechanism and the steering wheel is the difference in the angular transmission ratio. The rotation amount of the commercial vehicle steering wheel is -900 degrees to +900 degrees, while the rotation angle of the commercial vehicle wheel is -40 degrees to +40 degrees, and the transmission ratio is about 20:1. The operation precision of the steering wheel is high, while the structural characteristics of the rocker mechanism determine that the rotation stroke of the control lever is small, accurate control is difficult, and small disturbance will cause accidental steering, which is dangerous. Therefore, setting the mapping dead zone is a necessary means to prevent misoperation of the rocker control.

[0089] S106: Identify the first mapping relationship table and the second mapping relationship table as the vehicle speed correction factor table, and identify the third mapping relationship table as the rotation angle correction factor table.

[0090] In addition, the driving scene of the vehicle in different types of roads (such as crossroads, roads with large curvature, and multi-lane roads) can be simulated using dynamic simulation software to obtain the accelerator pedal opening degree curve, the brake pedal opening degree curve and the front wheel steering angle curve of the vehicle in different driving scenes. The accelerator pedal opening degree curve and the brake pedal opening degree curve are used to correct the vehicle speed correction factor table, and the front wheel steering angle curve is used to correct the rotation angle correction factor table.

[0091] S107: After entering the simulation test link, collect the control signals generated by the rocker mechanism in response to the operation behavior triggered by the user.

[0092] S108: Analog-to-digital conversion is performed on the control signal to obtain a digital signal.

[0093] S109: The digital signal is parsed to obtain a target direction degree of freedom.

[0094] S110: The current vehicle state information of the simulation vehicle is obtained.

[0095] The current vehicle state information includes the current speed, the current steering angle, the current position coordinates, and the current attitude angle.

[0096] S111: In the case where the target direction degree of freedom includes a front degree of freedom, the accelerator pedal opening degree corresponding to the target direction degree of freedom is read from the vehicle speed correction factor lookup table as a vehicle control variable.

[0097] After S111 is executed, S114 is continued.

[0098] S112: In the case where the target direction degree of freedom includes a rear degree of freedom, the brake pedal opening degree corresponding to the target direction degree of freedom is read from the vehicle speed correction factor lookup table as a vehicle control variable.

[0099] After S112 is executed, S114 is continued.

[0100] S113: In the case where the target direction degree of freedom includes any one of a left degree of freedom and a right degree of freedom, the front wheel steering angle corresponding to the target direction degree of freedom is read from the steering angle correction factor lookup table as a vehicle control variable.

[0101] After S113 is executed, S114 is continued.

[0102] S114: Based on the vehicle control variable and the current speed and the current steering angle of the simulation vehicle, a dynamics simulation signal is generated.

[0103] The dynamics simulation signal includes the start-stop signal, the engineering load signal, the model load signal, and the module driving input signal required by the dynamics model of the simulation vehicle.

[0104] S115: From the pre-set high-precision map, road surface information corresponding to the current position coordinates and corresponding to the current attitude angle is obtained.

[0105] S116: The road surface information and the dynamics simulation signal are imported into the dynamics model of the simulation vehicle to obtain the latest vehicle state information output by the dynamics model.

[0106] The latest vehicle state information includes the latest speed, the latest steering angle, the latest position coordinates, and the latest attitude angle of the simulation vehicle.

[0107] S117: Based on the high-precision map, and the latest vehicle speed, the latest turning angle, the latest position coordinates, and the latest attitude angle of the simulation vehicle, a simulation animation of the simulation vehicle driving process is generated, and the simulation animation is displayed to the user through a preset interface.

[0108] Specifically, the simulation process of the vehicle simulation system can be simplified as Figure 1d As shown in Figure 1d , the host computer 1 includes ModelBase and JoystickerAPP, ModelBase represents the vehicle dynamics simulation module 300, JoystickerAPP represents the rocker control module 200, and the host computer 2 represents the scene simulation module 400.

[0109] As can be seen from Figure 1d , the communication between ModelBase and JoystickerAPP is realized based on communication modules, signal transceiver and ModelBase start module, the communication between ModelBase and the host computer 2 is realized based on VTD communication module and VTD module, and the communication between JoystickerAPP and the rocker execution end is realized based on data reading and analog-digital conversion board module.

[0110] It can be understood that each module in ModelBase is used to realize the function of the vehicle dynamics simulation module 300, each module in JoystickerAPP is used to realize the function of the rocker control module 200, each module in the host computer 2 is used to realize the function of the scene simulation module 400, and each module in the rocker execution end is used to realize the function of the rocker execution end 100.

[0111] For the remote sensing execution end, the input signal and the output signal are as shown in Figure 1e ; for Joysticker APP, the input signal and the output signal are as shown in Figure 1f ; for ModelBase, the input signal and the output signal are as shown in Figure 1g ; for the host computer 2, the input signal and the output signal are as shown in Figure 1h .

[0112] In summary, the embodiment generates a simulation animation of the simulation vehicle driving process, which fully considers the influence of the dynamics model and the high-precision map of the simulation vehicle on the vehicle rocker control algorithm, can simulate different road scenes, and thus ensures the realization of the vehicle simulation for the continuous iteration of the vehicle rocker control algorithm.

[0113] It should be noted that the S101 mentioned in the above embodiment is an optional implementation of the vehicle simulation method provided in the embodiment of the present application. In addition, the S112 mentioned in the above embodiment is also an optional implementation of the vehicle simulation method provided in the embodiment of the present application. Therefore, the process mentioned in the above embodiment can be summarized as Figure 2 the method shown in the embodiment of the present application.

[0114] As Figure 2 shown, the process of another vehicle simulation method provided in the embodiment of the present application includes the following steps.

[0115] S201: Collecting a control signal generated by a user triggering an operation behavior of a rocker mechanical response.

[0116] S202: Determining a vehicle control variable based on the control signal.

[0117] S203: Generating a dynamics simulation signal based on the vehicle control variable, and a pre-constructed current speed and a current steering angle of a simulation vehicle.

[0118] S204: Obtaining road surface information corresponding to a current position coordinate and a current attitude angle of the simulation vehicle from a pre-set high-precision map.

[0119] S205: Importing the road surface information and the dynamics simulation signal into a dynamics model of the simulation vehicle to obtain latest vehicle state information output by the dynamics model.

[0120] Among them, the latest vehicle state information includes a latest speed, a latest steering angle, a latest position coordinate and a latest attitude angle of the simulation vehicle.

[0121] S206: Generating a simulation animation of a driving process of the simulation vehicle based on the high-precision map and the latest speed, the latest steering angle, the latest position coordinate and the latest attitude angle of the simulation vehicle, and displaying the simulation animation to a user through a pre-set interface.

[0122] In summary, the embodiment generates a simulation animation of a driving process of a simulation vehicle, which fully considers the influence of a dynamics model of the simulation vehicle and a high-precision map on a vehicle rocker control algorithm, and can simulate different road surface scenarios, thereby ensuring continuous iteration of vehicle simulation for the vehicle rocker control algorithm.

[0123] Corresponding to the vehicle simulation method provided in the above embodiment of the present application, the embodiment of the present application also provides a vehicle simulation device.

[0124] As Figure 3 shown, the architecture of a vehicle simulation device provided in the embodiment of the present application includes the following units.

[0125] The rocker execution unit 301 is configured to collect a control signal generated by the rocker mechanism in response to the operation behavior of the user.

[0126] The rocker control unit 302 is configured to determine a vehicle control variable based on the control signal.

[0127] Optionally, the rocker control unit 302 is specifically configured to: perform analog-to-digital conversion on the control signal to obtain a digital signal; analyze the digital signal to obtain a target direction degree of freedom; and in a case where the target direction degree of freedom includes a front degree of freedom, read an accelerator pedal opening degree corresponding to the target direction degree of freedom from a pre-constructed vehicle speed correction factor reference table as the vehicle control variable.

[0128] The rocker control unit 302 is further configured to: in a case where the target direction degree of freedom includes a rear degree of freedom, read a brake pedal opening degree corresponding to the target direction degree of freedom from the vehicle speed correction factor reference table as the vehicle control variable.

[0129] The rocker control unit 302 is further configured to: in a case where the target direction degree of freedom includes any one of a left degree of freedom and a right degree of freedom, read a front wheel steering angle corresponding to the target direction degree of freedom from a pre-constructed steering angle correction factor reference table as the vehicle control variable.

[0130] The rocker control unit 302 is specifically configured to: pre-collect a value range of the front degree of freedom of the rocker mechanism and a value range of the rear degree of freedom; construct a first mapping relationship table based on a preset value range of an accelerator pedal opening degree of the vehicle and the value range of the front degree of freedom; the first mapping relationship table includes a corresponding relationship between the accelerator pedal opening degree and the front degree of freedom; construct a second mapping relationship table based on a preset value range of a brake pedal opening degree of the vehicle and the value range of the rear degree of freedom; the second mapping relationship table includes a corresponding relationship between the brake pedal opening degree and the rear degree of freedom; and identify a combination of the first mapping relationship table and the second mapping relationship table as the vehicle speed correction factor reference table.

[0131] The rocker control unit 302 is specifically configured to: pre-collect a value range of the left degree of freedom of the rocker mechanism and a value range of the right degree of freedom; construct a third mapping relationship table based on a preset value range of a front wheel steering angle of the vehicle, the value range of the left degree of freedom, and the value range of the right degree of freedom; the third mapping relationship table includes a corresponding relationship between the front wheel steering angle, the left degree of freedom, and the right degree of freedom; and identify the third mapping relationship table as the steering angle correction factor reference table.

[0132] The rocker control unit 302 is further configured to generate a dynamics simulation signal based on the vehicle control variable and a pre-constructed current speed and a current steering angle of a simulation vehicle.

[0133] The scene simulation unit 303 is configured to acquire road surface information corresponding to a current position coordinate of the simulation vehicle and corresponding to a current attitude angle of the simulation vehicle from a preset high-precision map.

[0134] The vehicle dynamics simulation unit 304 is configured to import the road surface information and the dynamics simulation signal into a dynamics model of the simulation vehicle to obtain latest vehicle state information output by the dynamics model, wherein the latest vehicle state information includes a latest vehicle speed, a latest steering angle, a latest position coordinate and a latest attitude angle of the simulation vehicle.

[0135] The scene simulation unit 303 is further configured to generate a simulation animation of a driving process of the simulation vehicle based on the high-precision map and the latest vehicle speed, the latest steering angle, the latest position coordinate and the latest attitude angle of the simulation vehicle, and display the simulation animation to a user through a preset interface.

[0136] In summary, the embodiment generates a simulation animation of a driving process of the simulation vehicle, which fully considers the influence of the dynamics model of the simulation vehicle and the high-precision map on the vehicle joystick control algorithm, and can simulate different road surface scenes, thereby ensuring the realization of continuous iteration of vehicle simulation for the vehicle joystick control algorithm.

[0137] The application further provides a computer-readable storage medium, which comprises a stored program, wherein the program executes the vehicle simulation method provided by the application.

[0138] The application further provides a vehicle simulation device, which comprises a processor, a memory and a bus. The processor is connected to the memory through the bus. The memory is configured to store a program, and the processor is configured to run the program. When the program is running, the vehicle simulation method provided by the application is executed, and the method comprises the following steps:

[0139] Collecting a control signal generated by an operation behavior triggered by a mechanical response of the joystick to a user;

[0140] Determining a vehicle control variable based on the control signal;

[0141] Generating a dynamics simulation signal based on the vehicle control variable and a current vehicle speed and a current steering angle of the simulation vehicle constructed in advance;

[0142] Acquiring road surface information corresponding to a current position coordinate of the simulation vehicle and corresponding to a current attitude angle of the simulation vehicle from a preset high-precision map;

[0143] Importing the road surface information and the dynamics simulation signal into a dynamics model of the simulation vehicle to obtain latest vehicle state information output by the dynamics model, wherein the latest vehicle state information includes a latest vehicle speed, a latest steering angle, a latest position coordinate and a latest attitude angle of the simulation vehicle.

[0144] generate a simulation animation of the driving process of the simulation vehicle based on the high-precision map and the latest vehicle speed, the latest steering angle, the latest position coordinates, and the latest attitude angle of the simulation vehicle, and display the simulation animation to the user through a preset interface.

[0145] Specifically, based on the above embodiment, the control variable is determined based on the control signal, including:

[0146] analog-to-digital conversion is performed on the control signal to obtain a digital signal;

[0147] the digital signal is parsed to obtain a target direction degree of freedom;

[0148] In the case where the target direction degree of freedom includes a front degree of freedom, the accelerator pedal opening degree corresponding to the target direction degree of freedom is read from a pre-constructed vehicle speed correction factor lookup table as the control variable.

[0149] Specifically, based on the above embodiment, it further includes:

[0150] In the case where the target direction degree of freedom includes a rear degree of freedom, the brake pedal opening degree corresponding to the target direction degree of freedom is read from the vehicle speed correction factor lookup table as the control variable.

[0151] Specifically, based on the above embodiment, it further includes:

[0152] In the case where the target direction degree of freedom includes any one of a left degree of freedom and a right degree of freedom, the front wheel steering angle corresponding to the target direction degree of freedom is read from a pre-constructed steering angle correction factor lookup table as the control variable.

[0153] Specifically, based on the above embodiment, the construction process of the vehicle speed correction factor lookup table includes:

[0154] The value range of the front degree of freedom and the value range of the rear degree of freedom of the rocker mechanism are pre-acquired;

[0155] Based on the preset value range of the accelerator pedal opening degree of the vehicle and the value range of the front degree of freedom, a first mapping relationship table is constructed; the first mapping relationship table includes the corresponding relationship between the accelerator pedal opening degree and the front degree of freedom;

[0156] Based on the preset value range of the brake pedal opening degree of the vehicle and the value range of the rear degree of freedom, a second mapping relationship table is constructed; the second mapping relationship table includes the corresponding relationship between the brake pedal opening degree and the rear degree of freedom;

[0157] The combination of the first mapping relationship table and the second mapping relationship table is identified as the vehicle speed correction factor reference table.

[0158] Specifically, on the basis of the above-mentioned embodiments, the construction process of the steering angle correction factor reference table comprises:

[0159] The value range of the left degree of freedom and the value range of the right degree of freedom of the rocker mechanism are acquired in advance;

[0160] Based on the preset value range of the front wheel steering angle of the vehicle, the value range of the left degree of freedom and the value range of the right degree of freedom, a third mapping relationship table is constructed; the third mapping relationship table comprises the corresponding relationship among the front wheel steering angle, the left degree of freedom and the right degree of freedom;

[0161] The third mapping relationship table is identified as the steering angle correction factor reference table.

[0162] If the functions of the embodiments of the present application are realized in the form of software function units and sold or used as independent products, they can be stored in a readable storage medium of a computing device. Based on this understanding, the part of the prior art or the part of the technical solution of the embodiments of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computing device (which can be a personal computer, a server, a mobile computing device or a network device, etc.) to execute all or part of the steps of the method described in the embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and various storage medium capable of storing program codes.

[0163] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to each other.

[0164] The above description of the disclosed embodiments enables a person skilled in the art to implement or use the present application. Various modifications to the embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle simulation method, characterized in that, include: Collect control signals generated by the joystick's mechanical response to user-triggered actions; Based on the control signal, a pre-constructed vehicle speed correction factor lookup table or steering angle correction factor lookup table is used to determine vehicle control variables; The process of constructing the vehicle speed correction factor lookup table includes: pre-collecting the value ranges of the front degree of freedom and the rear degree of freedom of the joystick mechanism; constructing a first mapping table based on the preset value range of the accelerator pedal opening and the value range of the front degree of freedom; the first mapping table includes the correspondence between the accelerator pedal opening and the front degree of freedom; and constructing a second mapping table based on the preset value range of the brake pedal opening and the value range of the rear degree of freedom; the second mapping table includes the correspondence between the brake pedal opening and the rear degree of freedom. The combination of the first mapping table and the second mapping table is identified as the vehicle speed correction factor lookup table; the construction process of the steering angle correction factor lookup table includes: pre-collecting the value range of the left degree of freedom and the value range of the right degree of freedom of the joystick mechanism; based on the preset value range of the front wheel steering angle of the vehicle, and the respective value ranges of the left degree of freedom and the right degree of freedom, constructing a third mapping table; the third mapping table includes the correspondence between the front wheel steering angle, the left degree of freedom and the right degree of freedom; the third mapping table is identified as the steering angle correction factor lookup table; Based on the vehicle control variables and the pre-built simulation vehicle's current speed and current turning angle, a dynamic simulation signal is generated; the dynamic simulation signal includes the start / stop signal, engineering loading signal, model loading signal, and module driving input signal required by the dynamic model of the simulation vehicle; Obtain road surface information from a preset high-precision map that corresponds to the current position coordinates of the simulated vehicle and the current attitude angle of the simulated vehicle; The road surface information and the dynamic simulation signals are imported into the dynamic model of the simulated vehicle to obtain the latest vehicle state information output by the dynamic model; the latest vehicle state information includes the latest vehicle speed, latest turning angle, latest position coordinates, and latest attitude angle of the simulated vehicle. Based on the high-precision map, and the latest speed, turning angle, position coordinates, and attitude angle of the simulated vehicle, a simulation animation of the vehicle's driving process is generated and displayed to the user through a preset interface.

2. The method according to claim 1, characterized in that, The vehicle control variables are determined based on the pre-constructed vehicle speed correction factor lookup table or steering angle correction factor lookup table constructed according to the control signal, including: The control signal is converted from analog to digital to obtain a digital signal; The digital signal is analyzed to obtain the target direction degrees of freedom; When the target direction degree of freedom includes the front degree of freedom, the accelerator pedal opening corresponding to the target direction degree of freedom is read from the pre-built vehicle speed correction factor lookup table and used as the vehicle control variable.

3. The method according to claim 2, characterized in that, Also includes: When the target direction degree of freedom includes the rear degree of freedom, the brake pedal opening corresponding to the target direction degree of freedom is read from the vehicle speed correction factor lookup table and used as the vehicle control variable.

4. The method according to claim 2, characterized in that, Also includes: If the target direction degree of freedom includes either the left or right degree of freedom, the front wheel steering angle corresponding to the target direction degree of freedom is read from the pre-constructed steering angle correction factor lookup table and used as the vehicle control variable.

5. A vehicle simulation device, characterized in that, include: The joystick actuator unit is used to collect control signals generated by the joystick's mechanical response to user-triggered operations. The joystick control unit is used to determine vehicle control variables based on the control signal and a pre-constructed vehicle speed correction factor lookup table or steering angle correction factor lookup table. The process of constructing the vehicle speed correction factor lookup table includes: pre-collecting the value ranges of the front degree of freedom and the rear degree of freedom of the joystick mechanism; constructing a first mapping table based on the preset value range of the accelerator pedal opening and the value range of the front degree of freedom; the first mapping table includes the correspondence between the accelerator pedal opening and the front degree of freedom; and constructing a second mapping table based on the preset value range of the brake pedal opening and the value range of the rear degree of freedom; the second mapping table includes the correspondence between the brake pedal opening and the rear degree of freedom. The combination of the first mapping table and the second mapping table is identified as the vehicle speed correction factor lookup table; the construction process of the steering angle correction factor lookup table includes: pre-collecting the value range of the left degree of freedom and the value range of the right degree of freedom of the joystick mechanism; based on the preset value range of the front wheel steering angle of the vehicle, and the respective value ranges of the left degree of freedom and the right degree of freedom, constructing a third mapping table; the third mapping table includes the correspondence between the front wheel steering angle, the left degree of freedom and the right degree of freedom; the third mapping table is identified as the steering angle correction factor lookup table; The joystick control unit is also used to generate dynamic simulation signals based on the vehicle control variables and the pre-built current vehicle speed and current steering angle of the simulated vehicle; the dynamic simulation signals include start / stop signals, engineering loading signals, model loading signals and module driving input signals required by the dynamic model of the simulated vehicle; The scene simulation unit is used to obtain road surface information from a preset high-precision map that corresponds to the current position coordinates of the simulated vehicle and the current attitude angle of the simulated vehicle. The vehicle dynamics simulation unit is used to import the road surface information and the dynamics simulation signal into the dynamics model of the simulated vehicle to obtain the latest vehicle state information output by the dynamics model; the latest vehicle state information includes the latest vehicle speed, latest turning angle, latest position coordinates, and latest attitude angle of the simulated vehicle. The scene simulation unit is also used to generate a simulation animation of the vehicle's driving process based on the high-precision map and the latest vehicle speed, latest turning angle, latest position coordinates, and latest attitude angle of the simulation vehicle, and to display the simulation animation to the user through a preset interface.

6. The apparatus according to claim 5, characterized in that, The joystick control unit is specifically used for: The control signal is converted from analog to digital to obtain a digital signal; The digital signal is analyzed to obtain the target direction degrees of freedom; When the target direction degree of freedom includes the front degree of freedom, the accelerator pedal opening corresponding to the target direction degree of freedom is read from the pre-built vehicle speed correction factor lookup table and used as the vehicle control variable.

7. A storage medium, characterized in that, The storage medium includes a stored program, wherein the program is executed by a processor to perform the vehicle simulation method according to any one of claims 1-4.

8. A vehicle simulation device, characterized in that, include: Processor, memory, and bus; The processor and the memory are connected via the bus; The memory is used to store a program, and the processor is used to run the program, wherein the program is executed by the processor to perform the vehicle simulation method according to any one of claims 1-4.

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