Method, device, equipment and storage medium for constructing vehicle test simulation scene

Abstract

The present invention provides a method, device, equipment and storage medium for constructing a vehicle test simulation scene, which comprises: obtaining the self-vehicle driving parameters, discrete trajectory coordinate points of the self-vehicle, traffic participant data and road pictures obtained by constructing a vehicle in real road conditions; constructing a road benchmark model according to the discrete trajectory coordinate points and the road pictures; judging whether the road benchmark model is reasonable according to the discrete trajectory coordinate points and the traffic participant data; if the road benchmark model is unreasonable, reconstructing the road benchmark model; if the road benchmark model is reasonable, further constructing a road test simulation scene on the road benchmark model according to the self-vehicle driving parameters, discrete trajectory coordinate points of the self-vehicle, traffic participant data and road pictures. The present invention realizes that the rationality of the construction basis can be effectively controlled before constructing a complete road test simulation scene, thereby improving the effectiveness of the finally constructed road simulation test scene.

Description

Technical Field

[0001] The present invention relates to the field of simulation scene construction, and in particular to a method, device, equipment and storage medium for constructing a vehicle test simulation scene. Background Art

[0002] In order to reduce the testing cost of vehicles during actual driving, simulation technology is often used to conduct simulation tests on vehicles, that is, by first establishing a road model that conforms to actual driving, and then simulating the driving of the vehicle model to be tested in the road model. For the establishment of road test scenarios, complete vehicle-side acquisition equipment or even road-side acquisition equipment is often used, such as inertial navigation positioning terminals or differential positioning terminals, high-line laser radars, millimeter-wave radars, cameras and other sensor groups, to collect detailed road vehicle and traffic scene information to build accurate test simulation scenarios. However, this method is difficult to effectively control the cost of vehicle simulation testing due to the relatively complex equipment cost or acquisition process.

[0003] At present, related technologies have emerged that use vehicles equipped with positioning modules, millimeter-wave radars, smart cameras and driving recorders on the road as crowdsourcing vehicles to collect data. Such vehicles are relatively common on the road, such as vehicles with L0-L2 level assisted driving systems. Then, the test simulation scene is constructed based on the data collected by such vehicles, so as to effectively control the construction cost of the test simulation scene.

[0004] However, since the types of data collected by such vehicles are relatively small and the data accuracy is relatively low, the rationality of the test simulation scenarios constructed using such data cannot be effectively guaranteed, which has a certain impact on the use of vehicle simulation tests. Summary of the invention

[0005] The main purpose of the present invention is to provide a method, device, equipment and storage medium for constructing a vehicle test simulation scenario, aiming to solve the rationality problem when constructing a test simulation scenario based on data collected by crowdsourcing vehicles.

[0006] In a first aspect, the present invention provides a method for constructing a vehicle test simulation scenario, which adopts the following technical solution:

[0007] A method for constructing a vehicle test simulation scenario comprises the following steps:

[0008] Obtain the driving parameters of the vehicle, the discrete trajectory coordinate points of the vehicle, the data of traffic participants and the road picture obtained by the construction vehicle in the real road condition;

[0009] Constructing a road reference model according to the discrete trajectory coordinate points and the road picture;

[0010] Determining whether the road benchmark model is reasonable according to the discrete trajectory coordinate points and the traffic participant data;

[0011] If the road reference model is unreasonable, reconstruct the road reference model;

[0012] If the road benchmark model is reasonable, a road test simulation scene is further constructed on the road benchmark model according to the vehicle driving parameters, the discrete trajectory coordinate points of the vehicle, the traffic participant data and the road picture.

[0013] In some embodiments, in constructing the road reference model according to the discrete trajectory coordinate points and the road image, the road reference model is a plane reference line extending along the road in the XY direction.

[0014] In some embodiments, judging whether the road reference model is reasonable based on the discrete trajectory coordinate points and the traffic participant data comprises the following steps:

[0015] According to the road picture, a lateral offset distance of the plane reference line and a vertical plane reference line is obtained;

[0016] Determining whether the vehicle and the traffic participant are completely within the lateral offset distance of the plane reference line according to the discrete trajectory coordinate points and the traffic participant data;

[0017] If it is not completely there, it is determined that the plane reference line is unreasonable;

[0018] If it is completely there, it is determined that the plane reference line is reasonable.

[0019] In some embodiments, obtaining the lateral offset distance of the plane reference line and the vertical plane reference line according to the road picture includes the following steps:

[0020] According to the road picture, a lateral distance between each discrete trajectory coordinate point and adjacent lane lines on both sides thereof is obtained;

[0021] According to the XY direction data of the discrete trajectory coordinate points and the lateral distance between each discrete trajectory coordinate point and the adjacent lane lines on both sides thereof, an XY direction continuous trajectory of the lane centerline is fitted as a plane reference line;

[0022] According to the road picture, lane parameters in the road are obtained; wherein the lane parameters include lane type and lane distribution position;

[0023] According to the lane parameters and the plane reference line, a lateral offset distance perpendicular to the plane reference line is obtained.

[0024] In some embodiments, fitting the XY continuous trajectory of the lane centerline as the plane reference line according to the XY data of the discrete trajectory coordinate points and the lateral spacing between each discrete trajectory coordinate point and the adjacent lane lines on both sides thereof comprises the following steps:

[0025] According to the XY data of the discrete trajectory coordinate points, the lateral spacing between each discrete trajectory coordinate point and the adjacent lane lines on both sides, and the set segment fitting length, multiple centerline segments are fitted in sequence;

[0026] According to the multiple center line segments, an XY continuous trajectory of the lane center line is fitted as a plane reference line.

[0027] In some embodiments, the road test simulation scene is further constructed on the road benchmark model according to the vehicle driving parameters, the discrete trajectory coordinate points of the vehicle, the traffic participant data and the road picture, including the following steps:

[0028] Obtaining a road plane model having all lanes according to the plane reference line and the lane parameters;

[0029] Obtaining a three-dimensional road simulation model according to the Y-direction data of the discrete trajectory coordinate points and the road plane model;

[0030] According to the vehicle driving parameters, the discrete trajectory coordinate points, the traffic participant data, the plane trajectory of the traffic participant and the road simulation model, a road test simulation scene reflecting the driving process of the vehicle and the traffic participant is obtained.

[0031] In some embodiments, obtaining a road test simulation scene reflecting the driving process of the self-vehicle and the traffic participants according to the self-vehicle driving parameters, the discrete trajectory coordinate points, the traffic participant data, the plane trajectory of the traffic participant and the road simulation model includes the following steps:

[0032] The driving trajectory of the vehicle is obtained by fitting the discrete trajectory coordinate points;

[0033] Fitting the driving trajectory of the traffic participant according to the discrete trajectory coordinate points and the traffic participant data;

[0034] According to the driving information of the vehicle, the driving trajectory of the vehicle, the traffic participant data, the driving trajectory of the traffic participant and the road simulation model, a road test simulation scene reflecting the driving process of the vehicle and the traffic participants is obtained.

[0035] In a second aspect, the present invention further provides a device for constructing a vehicle test simulation scenario, which adopts the following technical solution:

[0036] A device for constructing a vehicle test simulation scenario, comprising:

[0037] An acquisition module is configured to acquire the driving parameters of the self-vehicle, the discrete trajectory coordinate points of the self-vehicle, the data of the traffic participants and the road picture acquired by the construction vehicle in the real road condition;

[0038] A construction module is configured to construct a road benchmark model according to the discrete trajectory coordinate points and the road picture; determine whether the road benchmark model is reasonable according to the discrete trajectory coordinate points and the traffic participant data; if the road benchmark model is unreasonable, reconstruct the road benchmark model; if the road benchmark model is reasonable, further construct a road test simulation scene on the road benchmark model according to the vehicle driving parameters, the discrete trajectory coordinate points of the vehicle, the traffic participant data and the road picture.

[0039] In a third aspect, the present invention further provides a device for constructing a vehicle test simulation scenario, which adopts the following technical solution:

[0040] A device for constructing a vehicle test simulation scenario, the device comprising a processor, a memory, and a vehicle test simulation scenario construction program stored in the memory and executable by the processor, wherein when the vehicle test simulation scenario construction program is executed by the processor, the steps of the vehicle test simulation scenario construction method as described above are implemented.

[0041] In a fourth aspect, the present invention further provides a storage medium, which adopts the following technical solution:

[0042] A storage medium stores a program for constructing a vehicle test simulation scenario, wherein when the program for constructing a vehicle test simulation scenario is executed by a processor, the steps of the method for constructing a vehicle test simulation scenario as described above are implemented.

[0043] The method, device, equipment and storage medium for constructing a vehicle test simulation scene provided by the present invention first fit a preliminary road benchmark model, and judge the rationality of the fitted road benchmark model through the discrete trajectory coordinate points of the vehicle and the traffic participant data, so that the rationality of the construction basis can be effectively controlled before constructing a complete road test simulation scene, thereby improving the effectiveness of the road simulation test scene finally constructed, and achieving improved utilization of computing power, reducing the possibility of computing power waste when the construction is unreasonable, and ultimately making the overall simulation test scene simple and efficient, while effectively improving the rationality of the construction result to meet the needs of subsequent vehicle simulation tests. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1A schematic diagram of the hardware structure of a vehicle test simulation scenario construction device involved in an embodiment of the present invention;

[0045] Figure 2 A schematic diagram of a flow chart of a first embodiment of a method for constructing a vehicle test simulation scenario according to the present invention;

[0046] Figure 3 This is a schematic diagram of the functional modules of the first embodiment of the device for constructing a vehicle test simulation scenario of the present invention.

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0049] In a first aspect, an embodiment of the present invention provides a device for constructing a vehicle test simulation scenario. The device for constructing a vehicle test simulation scenario may be a device having a data processing function, such as a personal computer (PC), a notebook computer, or a server.

[0050] Reference Figure 1 , Figure 1 The hardware structure diagram of the construction device of the vehicle test simulation scenario involved in the embodiment of the present invention. In the embodiment of the present invention, the construction device of the vehicle test simulation scenario may include a processor 1001 (for example, a central processing unit Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 1 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0051] Continue to refer to Figure 1, Figure 1 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a vehicle test simulation scenario construction program. The processor 1001 may call the vehicle test simulation scenario construction program stored in the memory 1005 and execute the vehicle test simulation scenario construction method provided in the embodiment of the present invention.

[0052] In a second aspect, an embodiment of the present invention provides a method for constructing a vehicle test simulation scenario.

[0053] Reference Figure 2 , a method for constructing a vehicle test simulation scenario, comprising:

[0054] S100, obtaining driving parameters of the vehicle, discrete trajectory coordinate points of the vehicle, traffic participant data, and road images obtained by constructing the vehicle in real road conditions;

[0055] S200, constructing a road reference model according to the discrete trajectory coordinate points and the road picture;

[0056] S300, judging whether the road benchmark model is reasonable according to the discrete trajectory coordinate points and the traffic participant data;

[0057] S400: if the road reference model is unreasonable, reconstruct the road reference model;

[0058] S500: If the road benchmark model is reasonable, a road test simulation scene is further constructed on the road benchmark model according to the vehicle driving parameters, the discrete trajectory coordinate points of the vehicle, the traffic participant data and the road picture.

[0059] Among them, the driving parameters of the vehicle include the absolute speed information of the vehicle during driving, the traffic participant data include the relative lateral distance, relative longitudinal distance, and relative speed of the traffic participants relative to the vehicle detected by the millimeter-wave radar, and the road image includes the image information of the road surface and the image information of the traffic participants.

[0060] With this setting, since a preliminary road benchmark model is fitted first, and the rationality of the fitted road benchmark model is judged through the discrete trajectory coordinate points of the vehicle and the data of traffic participants, it is possible to effectively control the rationality of the construction basis before constructing a complete road test simulation scene, thereby improving the effectiveness of the road simulation test scene finally constructed, and achieving increased utilization of computing power, reducing the possibility of wasting computing power when the construction is unreasonable. Ultimately, the overall simulation test scene is simple and efficient, while effectively improving the rationality of the construction results to meet the needs of subsequent vehicle simulation tests.

[0061] Furthermore, in the step S200, in which a road reference model is constructed according to the discrete trajectory coordinate points and the road picture, the road reference model is a plane reference line extending along the road in the XY direction.

[0062] With this arrangement, it is possible to use relevant data to quickly and easily construct a plane baseline that can reflect the foundation of road construction. After having the plane baseline, it can be judged whether it is reasonable under the basic accuracy requirements of the vehicle simulation test. When the baseline is judged to be reasonable, the rationality of the subsequent road test simulation scene can be effectively guaranteed. When the baseline is judged to be unreasonable, it can effectively avoid constructing unreasonable road test simulation scenes, reduce the possibility of failure of vehicle simulation tests, and effectively reduce the waste of computing power.

[0063] In addition, in other embodiments, other basic models may be established as road reference models for judging rationality, for example, a three-dimensional reference line that can reflect road extension, or a two-dimensional plane model, etc. It should be understood that the present invention needs to construct a transition model that can reflect rationality before obtaining the final road test simulation scene.

[0064] Further, the S300, judging whether the road reference model is reasonable according to the discrete trajectory coordinate points and the traffic participant data, comprises the following steps:

[0065] S310, obtaining a lateral offset distance of the plane reference line and a vertical plane reference line according to the road picture;

[0066] S320, judging whether the vehicle and the traffic participant are completely within the lateral offset distance of the plane reference line according to the discrete trajectory coordinate points and the traffic participant data;

[0067] If it is not completely there, it is determined that the plane reference line is unreasonable;

[0068] If it is completely there, it is determined that the plane reference line is reasonable.

[0069] Further, the step S310, obtaining the lateral offset distance of the plane reference line and the vertical plane reference line according to the road picture, comprises the following steps:

[0070] S311, obtaining, according to the road picture, a lateral distance between each discrete trajectory coordinate point and adjacent lane lines on both sides thereof;

[0071] S312, fitting an XY continuous trajectory of the lane centerline as a plane reference line according to the XY data of the discrete trajectory coordinate points and the lateral distance between each discrete trajectory coordinate point and adjacent lane lines on both sides thereof;

[0072] S313, obtaining lane parameters in the road according to the road picture; wherein the lane parameters include lane type and lane distribution position;

[0073] S314: Obtain a lateral offset distance perpendicular to the plane reference line according to the lane parameters and the plane reference line.

[0074] Among them, by combining the road image to obtain the lateral distance between each discrete trajectory coordinate point and the adjacent lane lines on both sides, the centerline coordinate points corresponding to each discrete trajectory coordinate point can be analyzed and obtained, and these centerline coordinate points can be further fitted to obtain the XY continuous trajectory of the lane centerline as the plane reference line. In addition, the road image can also be further analyzed to obtain the lane parameters in the road, and the lane type and lane distribution position in the lane parameters, combined with the standard width corresponding to different lane types, can be calculated. The corresponding lateral distance of the road on both sides of the lane centerline, that is, a reasonable lateral offset distance that conforms to the current real road conditions is obtained, so that the lateral offset distance can be used to make a reasonable judgment on the fitted lane centerline in the future.

[0075] With such an arrangement, the present embodiment preferably fits the XY continuous trajectory of the lane centerline as the plane reference line, effectively reducing the error of the lateral offset distance on both sides, that is, the error is smaller when the road test simulation scene is finally constructed by the lateral offset distance and the plane reference line, further improving the rationality of the obtained road test simulation scene.

[0076] Further, the step S312, according to the XY direction data of the discrete trajectory coordinate points and the lateral distance between each discrete trajectory coordinate point and the adjacent lane lines on both sides thereof, fitting an XY direction continuous trajectory of the lane centerline as a plane reference line, comprises the following steps:

[0077] S3121, sequentially fitting to obtain multiple centerline segments according to the XY data of the discrete trajectory coordinate points, the lateral spacing between each discrete trajectory coordinate point and adjacent lane lines on both sides, and the set segment fitting length;

[0078] S3122. According to the plurality of center line segments, a continuous XY trajectory of the lane center line is obtained by fitting as a plane reference line.

[0079] With this arrangement, during the fitting process of the XY continuous trajectory of the lane centerline, the fitting is performed in segments to ensure that each centerline segment itself has a higher rationality. Finally, when the XY continuous trajectory of the lane centerline obtained by fitting multiple centerline segments together is used as the plane reference line, it can be more realistic and reasonable.

[0080] Furthermore, the S500, based on the vehicle driving parameters, the discrete trajectory coordinate points of the vehicle, the traffic participant data and the road picture, further constructs a road test simulation scene on the road benchmark model, including the following steps:

[0081] S510, obtaining a road plane model having all lanes according to the plane reference line and the lane parameters;

[0082] S520, obtaining a three-dimensional road simulation model according to the Y-direction data of the discrete trajectory coordinate points and the road plane model;

[0083] S530, obtaining a road test simulation scene reflecting the driving process of the ego vehicle and the traffic participants according to the ego vehicle driving parameters, the discrete trajectory coordinate points, the traffic participant data, the plane trajectory of the traffic participant and the road simulation model.

[0084] With this setting, after determining that the fitted plane baseline is reasonable, the lane parameters can be used to first form a road plane model with multiple lanes, and the Y direction of the road plane model can be further fitted according to the Y direction data of the discrete trajectory coordinate points to obtain a three-dimensional road simulation model. Before further fitting the three-dimensional model, the rationality of the construction basis can be judged with the lowest possible calculation process, thereby effectively saving computing power resources, and the three-dimensional model can be constructed after it is reasonable, effectively improving the overall construction efficiency.

[0085] At the same time, after obtaining a reasonable road simulation model, the collected data parameters are used again to construct a road test simulation scene that can reflect the driving of the vehicle and traffic participants based on the road simulation model, so that subsequent vehicles to be tested can be tested in the road test simulation scene during simulation tests.

[0086] Further, the step S530, obtaining a road test simulation scene reflecting the driving process of the self-vehicle and the traffic participants according to the self-vehicle driving parameters, the discrete trajectory coordinate points, the traffic participant data, the plane trajectory of the traffic participant and the road simulation model, includes the following steps:

[0087] S531, obtaining a driving trajectory of the vehicle according to the discrete trajectory coordinate points;

[0088] S532, fitting the driving trajectory of the traffic participant according to the discrete trajectory coordinate points and the traffic participant data;

[0089] S533, obtaining a road test simulation scene reflecting the driving process of the own vehicle and the traffic participants according to the driving information of the own vehicle, the driving trajectory of the own vehicle, the traffic participant data, the driving trajectory of the traffic participants and the road simulation model.

[0090] With this arrangement, when constructing a road test simulation scene, the collected data information is used to obtain the three-dimensional trajectory data of the vehicle and traffic participants, and the data is fitted into the road simulation model, ultimately obtaining a road test simulation scene that can reflect the vehicle and traffic participants driving on the road simulation model.

[0091] In a third aspect, an embodiment of the present invention further provides a device for constructing a vehicle test simulation scenario.

[0092] Reference Figure 3 , a schematic diagram of functional modules of a first embodiment of a device for constructing a vehicle test simulation scenario.

[0093] In this embodiment, the vehicle test simulation scenario construction device includes:

[0094] An acquisition module is configured to acquire the driving parameters of the self-vehicle, the discrete trajectory coordinate points of the self-vehicle, the data of the traffic participants and the road picture acquired by the construction vehicle in the real road condition;

[0095] A fitting module is configured to obtain a road test simulation scene according to the vehicle driving parameters, the discrete trajectory coordinate points, the traffic participant data and the road picture.

[0096] Among them, the functional implementation of each module in the above-mentioned vehicle test simulation scenario construction device corresponds to the various steps in the above-mentioned vehicle test simulation scenario construction method embodiment, and its functions and implementation processes are no longer repeated here one by one.

[0097] In a fourth aspect, an embodiment of the present invention further provides a storage medium.

[0098] The storage medium of the present invention stores a vehicle test simulation scenario construction program, wherein when the vehicle test simulation scenario construction program is executed by a processor, the steps of the vehicle test simulation scenario construction method as described above are implemented.

[0099] Among them, the method implemented when the vehicle test simulation scenario construction program is executed can refer to the various embodiments of the vehicle test simulation scenario construction method of the present invention, and will not be repeated here.

[0100] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0101] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0102] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0103] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for constructing a vehicle test simulation scenario, characterized in that: It includes the following steps: Obtain the driving parameters of the vehicle, the discrete trajectory coordinate points of the vehicle, the data of traffic participants and the road picture obtained by the construction vehicle in the real road condition; Constructing a road reference model according to the discrete trajectory coordinate points and the road picture; Determining whether the road benchmark model is reasonable according to the discrete trajectory coordinate points and the traffic participant data; If the road reference model is unreasonable, reconstruct the road reference model; If the road benchmark model is reasonable, a road test simulation scene is further constructed on the road benchmark model according to the vehicle driving parameters, the discrete trajectory coordinate points of the vehicle, the traffic participant data and the road picture; In the step of constructing a road reference model according to the discrete trajectory coordinate points and the road picture, the road reference model is a plane reference line extending along the road in the XY direction; The determining whether the road reference model is reasonable according to the discrete trajectory coordinate points and the traffic participant data comprises the following steps: According to the road picture, a lateral offset distance of the plane reference line and a vertical plane reference line is obtained; Determining whether the vehicle and the traffic participant are completely within the lateral offset distance of the plane reference line according to the discrete trajectory coordinate points and the traffic participant data; If it is not completely there, it is determined that the plane reference line is unreasonable; If it is completely there, it is determined that the plane reference line is reasonable.

2. The method for constructing a vehicle test simulation scenario according to claim 1, characterized in that: The step of obtaining the lateral offset distance of the plane reference line and the vertical plane reference line according to the road picture comprises the following steps: According to the road picture, a lateral distance between each discrete trajectory coordinate point and adjacent lane lines on both sides thereof is obtained; According to the XY direction data of the discrete trajectory coordinate points and the lateral distance between each discrete trajectory coordinate point and the adjacent lane lines on both sides thereof, an XY direction continuous trajectory of the lane centerline is fitted as a plane reference line; According to the road picture, lane parameters in the road are obtained; wherein the lane parameters include lane type and lane distribution position; According to the lane parameters and the plane reference line, a lateral offset distance perpendicular to the plane reference line is obtained.

3. The method for constructing a vehicle test simulation scenario as claimed in claim 2, characterized in that: The method of fitting the XY continuous trajectory of the lane centerline as the plane reference line according to the XY data of the discrete trajectory coordinate points and the lateral distance between each discrete trajectory coordinate point and the adjacent lane lines on both sides thereof comprises the following steps: According to the XY data of the discrete trajectory coordinate points, the lateral spacing between each discrete trajectory coordinate point and the adjacent lane lines on both sides, and the set segment fitting length, multiple centerline segments are fitted in sequence; According to the multiple center line segments, an XY continuous trajectory of the lane center line is fitted as a plane reference line.

4. The method for constructing a vehicle test simulation scenario as claimed in claim 2, characterized in that: The method further constructs a road test simulation scene on the road benchmark model according to the vehicle driving parameters, the discrete trajectory coordinate points of the vehicle, the traffic participant data and the road picture, including the following steps: Obtaining a road plane model having all lanes according to the plane reference line and the lane parameters; Obtaining a three-dimensional road simulation model according to the Y-direction data of the discrete trajectory coordinate points and the road plane model; According to the vehicle driving parameters, the discrete trajectory coordinate points, the traffic participant data, the plane trajectory of the traffic participant and the road simulation model, a road test simulation scene reflecting the driving process of the vehicle and the traffic participant is obtained.

5. The method for constructing a vehicle test simulation scenario as claimed in claim 4, characterized in that: The road test simulation scene reflecting the driving process of the self-vehicle and the traffic participants is obtained according to the self-vehicle driving parameters, the discrete trajectory coordinate points, the traffic participant data, the plane trajectory of the traffic participant and the road simulation model, including the following steps: The driving trajectory of the vehicle is obtained by fitting the discrete trajectory coordinate points; Fitting the driving trajectory of the traffic participant according to the discrete trajectory coordinate points and the traffic participant data; According to the driving information of the vehicle, the driving trajectory of the vehicle, the traffic participant data, the driving trajectory of the traffic participant and the road simulation model, a road test simulation scene reflecting the driving process of the vehicle and the traffic participants is obtained.

6. A device for constructing a vehicle test simulation scenario, characterized in that: It includes: An acquisition module is configured to acquire the driving parameters of the self-vehicle, the discrete trajectory coordinate points of the self-vehicle, the data of the traffic participants and the road picture acquired by the construction vehicle in the real road condition; A construction module is configured to construct a road benchmark model according to the discrete trajectory coordinate points and the road picture; determine whether the road benchmark model is reasonable according to the discrete trajectory coordinate points and the traffic participant data; if the road benchmark model is unreasonable, reconstruct the road benchmark model; if the road benchmark model is reasonable, further construct a road test simulation scene on the road benchmark model according to the vehicle driving parameters, the discrete trajectory coordinate points of the vehicle, the traffic participant data and the road picture; In the step of constructing a road reference model according to the discrete trajectory coordinate points and the road picture, the road reference model is a plane reference line extending along the road in the XY direction; The determining whether the road reference model is reasonable according to the discrete trajectory coordinate points and the traffic participant data comprises the following steps: According to the road picture, a lateral offset distance of the plane reference line and the vertical plane reference line is obtained; according to the discrete trajectory coordinate points and the traffic participant data, it is determined whether the vehicle and the traffic participant are completely within the lateral offset distance of the plane reference line; If it is not completely there, it is determined that the plane reference line is unreasonable; If it is completely there, it is determined that the plane reference line is reasonable.

7. A device for constructing a vehicle test simulation scenario, characterized in that: The vehicle test simulation scenario construction device includes a processor, a memory, and a vehicle test simulation scenario construction program stored in the memory and executable by the processor, wherein when the vehicle test simulation scenario construction program is executed by the processor, the steps of the vehicle test simulation scenario construction method as described in any one of claims 1 to 5 are implemented.

8. A storage medium, characterized in that: The storage medium stores a vehicle test simulation scenario construction program, wherein when the vehicle test simulation scenario construction program is executed by a processor, the steps of the vehicle test simulation scenario construction method as described in any one of claims 1 to 5 are implemented.

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