Virtual driving control method and device, and storage medium

Abstract

The application relates to the technical field of virtual driving and provides a virtual driving control method and device and a storage medium. An acceleration instruction for a target vehicle is received and responded to, the vehicle speed of the target vehicle under at least two road segment materials is accelerated according to a preset strategy, a first speed of the vehicle under the target driving mode is acquired in real time, when the first vehicle speed is higher than a first threshold value, it is determined that the control of the steering wheel on the driving direction of the target vehicle meets a preset deviation condition within a preset time length, and first prompt information for prompting a user to control the vehicle speed of the target vehicle is generated and output. It can be seen that through simulation under the road segments, it can be verified that in the virtual driving scene, the faster the vehicle speed is, the greater the force feedback coefficient of the steering wheel is, the driving direction of the target vehicle can be controlled to be kept within the controllable range of the steering wheel by adjusting the vehicle speed, that is, the deviation of the steering wheel on the driving direction of the vehicle is reduced, and the driving of the vehicle can be safely controlled.

Description

Technical Field

[0001] This application relates to the field of virtual driving technology, including virtual driving control methods, devices, and storage media. Background Technology

[0002] In virtual driving scenarios, although control parameters for various scenarios are preset to control the vehicle's direction, the diversity of vehicle types involved, the differences in steering wheel control, the impact of vehicle speed on steering wheel control, and the anomalies or deviations that occur in different environmental and weather conditions all contribute to the inaccuracy of vehicle direction control in virtual driving scenarios. Furthermore, it cannot cover a wider range of vehicle models, allowing only coarse-grained driving training and failing to achieve high-precision driving training for specific or any vehicle model in all environmental and weather conditions. Summary of the Invention

[0003] This application provides a virtual driving control method, device, and storage medium. Through simulations on these road sections, it can verify that there is a positive relationship between vehicle speed and steering wheel force feedback coefficient in the virtual driving scenario (for example, the faster the vehicle speed, the larger the steering wheel force feedback coefficient; the slower the vehicle speed, the smaller the force feedback; in a special case, the force feedback is very large even when the vehicle speed is 0). Therefore, by adjusting the vehicle speed, the driving direction of the target vehicle can be controlled to remain within the controllable range of the steering wheel. That is, by reducing the deviation of the steering wheel in controlling the vehicle's driving direction, the vehicle's driving can be safely controlled.

[0004] In a first aspect, embodiments of this application provide a virtual driving control method. The method is used in a virtual driving control system, which includes a simulator (virtual controller), a vehicle perception model, and a driving scenario simulation platform. The driving scenario simulation platform includes a first area and a second area. The first area displays multiple driving modes, each driving mode including at least two road segment materials. The second area currently displays dynamic images under a target driving mode. The dynamic images include a target vehicle in motion and at least two road segment materials corresponding to the target driving mode. The dynamic images and trajectory data of the target vehicle in the second area are transmitted to the vehicle perception model via a port.

[0005] The method includes:

[0006] Receive acceleration commands from the user for the target vehicle;

[0007] In response to the acceleration command, the speed of the target vehicle is accelerated according to a preset strategy under the at least two road segment materials;

[0008] The vehicle's first speed in the target driving mode is acquired in real time. When the first speed is higher than a first threshold, it is determined that the steering wheel's control of the target vehicle's driving direction meets the preset offset condition within a preset time.

[0009] Generate and output a first prompt message, which is used to remind the user to control the speed of the target vehicle and pay attention to safe driving.

[0010] In one implementation, generating and outputting the first prompt information includes at least one of the following:

[0011] Generate a first prompt message of any type, including text, audio, or video, and output the first prompt message via at least one of the following methods: SMS, instant messaging, email, telephone, or pop-up window.

[0012] In one embodiment, after determining that the steering wheel's control of the target vehicle's direction meets a preset offset condition within a preset time period, the method further includes:

[0013] Based on the first vehicle speed and the correspondence between vehicle speed and steering wheel force, the first force feedback coefficient corresponding to the current first vehicle speed is obtained;

[0014] The target offset angle of the target vehicle is obtained based on the first vehicle speed, the first force feedback coefficient, and the current first driving direction of the target vehicle.

[0015] The driving direction of the target vehicle is corrected according to the target offset angle until it is determined that the steering wheel's control over the vehicle's direction does not meet the preset offset conditions.

[0016] In one embodiment, the target driving mode corresponds to at least two types of road segment materials, namely normal road segment materials and abnormal weather materials, wherein the abnormal weather materials include at least one of rain, fog, snow, haze, and sandstorm.

[0017] The step of receiving an acceleration command from a user for the target vehicle; and responding to the acceleration command by accelerating the target vehicle's speed according to a preset strategy under the at least two road segment materials, including:

[0018] Receive the user's first instruction for the target vehicle;

[0019] In response to the first instruction, the speed of the target vehicle under the at least one normal road section material is accelerated;

[0020] In response to the second instruction, the current normal road segment material is switched to road segment material under at least one of the abnormal weather conditions, and the speed of the target vehicle is accelerated under at least one of the abnormal road segment conditions.

[0021] In one embodiment, the method further includes:

[0022] Obtain a first bias value and a first steering force of the steering wheel of the target vehicle, and obtain the target steering force based on the first steering force and the first bias value;

[0023] The steering wheel is controlled to steer according to the target steering force.

[0024] Secondly, embodiments of this application provide a virtual driving control device that implements the functions described in the virtual driving control method provided in the first aspect. The functions described in the virtual driving control method can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, and the modules can be software and / or hardware. Embodiments of this application do not limit this.

[0025] In some embodiments, the virtual driving control device is applied to a virtual driving control system, which includes a simulator (virtual controller), a vehicle perception model, and a driving scenario simulation platform. The driving scenario simulation platform includes a first area and a second area. The first area displays multiple driving modes, each of which includes at least two road segment materials. The second area currently displays dynamic images of the target driving mode, including a moving target vehicle and at least two road segment materials corresponding to the target driving mode. The dynamic images and trajectory data of the target vehicle in the second area are transmitted to the vehicle perception model via a port.

[0026] The virtual driving control device includes:

[0027] An input / output module is used to receive acceleration commands from the user for the target vehicle;

[0028] The processing module is configured to, in response to the acceleration command, accelerate the speed of the target vehicle under the at least two road segment materials according to a preset strategy;

[0029] The input / output module is also used to acquire the vehicle's first speed in the target driving mode in real time;

[0030] The processing module is further configured to determine, when it is determined that the first vehicle speed obtained by the input / output module is higher than the first threshold, that the control of the steering wheel on the driving direction of the target vehicle meets the preset offset condition within a preset time period; generate and output a first prompt message through the input / output module, the first prompt message being used to prompt the user to control the speed of the target vehicle and pay attention to safe driving.

[0031] In one implementation, the processing module is specifically configured to perform at least one of the following:

[0032] Generate a first prompt message of any type, including text, audio, or video;

[0033] The input / output module is specifically used to perform at least one of the following:

[0034] The first prompt message may be output via at least one of the following methods: SMS, instant messaging, email, telephone, or pop-up window.

[0035] In one embodiment, after the processing module determines that the steering wheel's control of the target vehicle's direction meets a preset offset condition within a preset time period, it is further configured to:

[0036] Based on the first vehicle speed and the correspondence between vehicle speed and steering wheel force, the first force feedback coefficient corresponding to the current first vehicle speed is obtained;

[0037] The target offset angle of the target vehicle is obtained based on the first vehicle speed, the first force feedback coefficient, and the current first driving direction of the target vehicle.

[0038] The driving direction of the target vehicle is corrected according to the target offset angle until it is determined that the steering wheel's control over the vehicle's direction does not meet the preset offset conditions.

[0039] In one embodiment, the target driving mode corresponds to at least two types of road segment materials, namely normal road segment materials and abnormal weather materials, wherein the abnormal weather materials include at least one of rain, fog, snow, haze, and sandstorm.

[0040] The processing module is specifically used for:

[0041] The input / output module receives the user's first instruction for the target vehicle.

[0042] In response to the first instruction, the speed of the target vehicle under the at least one normal road section material is accelerated;

[0043] In response to the second instruction, the current normal road segment material is switched to road segment material under at least one of the abnormal weather conditions, and the speed of the target vehicle is accelerated under at least one of the abnormal road segment conditions.

[0044] Thirdly, embodiments of this application provide a computer device, the computer device comprising: at least one processor and a memory; wherein the memory is used to store a computer program, and the processor is used to invoke the computer program stored in the memory to execute the steps described in the first aspect and any of the embodiments of the first aspect.

[0045] Fourthly, embodiments of this application provide a computer-readable storage medium having functions corresponding to the virtual driving control method provided in the first aspect above. These functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, and the modules can be software and / or hardware. Specifically, the computer-readable storage medium stores multiple instructions adapted for loading by a processor to execute the steps of the first aspect or any embodiment of the first aspect in this application.

[0046] Compared to existing technologies, the solution provided in this application involves receiving an acceleration command from a user for the target vehicle; responding to the acceleration command, accelerating the target vehicle's speed according to a preset strategy under at least two road segment conditions; acquiring the vehicle's first speed in the target driving mode in real time; determining that the steering wheel's control of the target vehicle's direction meets preset offset conditions within a preset time period when the first speed exceeds a first threshold; and generating and outputting a first prompt message, which prompts the user to control the target vehicle's speed and pay attention to safe driving. It is evident that by simulating the target vehicle under these road segments, it can be verified that there is a positive relationship between vehicle speed and steering wheel force feedback coefficient in the virtual driving scenario (for example, the faster the vehicle speed, the larger the steering wheel force feedback coefficient; the slower the vehicle speed, the smaller the force feedback; in a special case, even at 0 speed, the force feedback is very large). Therefore, by adjusting the vehicle speed, the target vehicle's direction can be controlled to remain within the controllable range of the steering wheel, i.e., by reducing the offset of the steering wheel's control over the vehicle's direction, the vehicle's driving can be safely controlled. Attached Figure Description

[0047] Figure 1 This is a flowchart illustrating a virtual driving control method in an embodiment of this application;

[0048] Figure 2 This is another flowchart illustrating the virtual driving control method in the embodiments of this application;

[0049] Figure 3 This is a schematic diagram of a virtual driving control device in one embodiment of this application;

[0050] Figure 4 This is a schematic diagram of the structure of a physical device implementing the virtual driving control method in the embodiments of this application. Detailed Implementation

[0051] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects (e.g., the first instruction and the second instruction in the embodiments of this application represent system instructions under different circumstances), and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to these processes, methods, products, or devices. The division of modules in the embodiments of this application is merely a logical division; in actual applications, there may be other division methods. For example, multiple modules may be combined into or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interface, and the indirect coupling or communication connection between modules may be electrical or other similar forms, none of which are limited in the embodiments of this application. Furthermore, the modules or sub-modules described as separate components may or may not be physically separated, may or may not be physical modules, or may be distributed among multiple circuit modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of this application.

[0052] The following combination Figures 1-4 The technical solutions of the embodiments of this application will be described by way of example.

[0053] See Figure 1A virtual driving control method is provided, which can be applied to a virtual driving control system. The virtual driving control system includes a simulator (i.e., a virtual controller), a vehicle perception model, and a driving scenario simulation platform. The simulator generates driving commands for the target vehicle. The driving scenario simulation platform includes a first area and a second area. The first area displays multiple driving modes, each including at least two road segment materials. The second area currently displays dynamic images of the target driving mode, including the target vehicle in motion and at least two road segment materials corresponding to the target driving mode. The dynamic images and trajectory data of the target vehicle in the second area are transmitted to the vehicle perception model via a port. This method is executed by the simulator. Embodiments of this application include:

[0054] 101. Receive the user's acceleration command for the target vehicle.

[0055] 102. In response to the acceleration command, the target vehicle's speed is accelerated according to a preset strategy under the at least two road segment materials.

[0056] In some implementations, the preset strategy includes a correlation between the steering wheel force feedback coefficient and vehicle speed. For example, for every 5 km / h increase in vehicle speed, the force feedback coefficient increases by 0.1. Therefore, as long as the real-time speed of the target vehicle is known, the real-time value of the steering wheel force feedback coefficient can be calculated. The steering wheel force feedback coefficient is set to 0 by default.

[0057] In other embodiments, the target driving mode corresponds to at least two types of road segment materials, namely normal road segment materials and abnormal weather materials, wherein the abnormal weather materials include at least one of rain, fog, snow, haze, and sandstorm.

[0058] like Figure 2 As shown, the acceleration command may include acceleration commands for a target vehicle under at least one normal road segment and at least one abnormal weather condition, and is divided into a first command and a second command. The following details the receiving of the user's acceleration command for the target vehicle; in response to the acceleration command, accelerating the target vehicle's speed according to a preset strategy under the at least two road segment conditions, including:

[0059] S1. Receive the user's first instruction for the target vehicle.

[0060] S2. In response to the first instruction, the speed of the target vehicle under the at least one normal road section material is accelerated.

[0061] S3. In response to the second instruction, switch the current normal road segment material to road segment material under at least one of the abnormal weather materials, and accelerate the speed of the target vehicle under at least one of the abnormal road segment materials.

[0062] As can be seen, this embodiment simulates the acceleration of the target vehicle under at least one normal road condition and at least one abnormal weather condition, and obtains the corresponding steering wheel force feedback coefficient. Since the faster the target vehicle's speed (i.e., the greater the initial speed after acceleration), the greater the steering force, and the more difficult it is to control the target vehicle's direction of travel; conversely, the slower the speed, the easier it is to control the target vehicle's direction of travel. Therefore, this embodiment simulates the target vehicle under these road conditions, verifying that in a virtual driving scenario, the faster the vehicle speed, the smaller the steering wheel force feedback coefficient, i.e., the lighter the steering force. Thus, by adjusting the vehicle speed, the target vehicle's direction of travel can be controlled within the controllable range of the steering wheel. In other words, by reducing the deviation caused by the steering wheel's control over the vehicle's direction of travel, the vehicle's travel can be safely controlled.

[0063] Understandably, the purpose of accelerating the target vehicle after entering icy or snowy roads is to allow users to experience the effect of low friction on slippery surfaces, making it easier to exceed speed limits. As speed increases, the steering wheel automatically increases force feedback to prevent users from making arbitrary steering adjustments that could lead to further accidents. (Note: The correct procedure when skidding is to maintain low speed and make minor steering adjustments.)

[0064] 103. Real-time acquisition of the vehicle's first speed in the target driving mode.

[0065] 104. When the first vehicle speed is higher than the first threshold, it is determined that the control of the steering wheel on the driving direction of the target vehicle meets the preset offset condition within a preset time period.

[0066] The preset offset condition refers to the situation where the target vehicle's speed exceeds a preset first threshold, causing the steering wheel of the target vehicle to deviate from its driving direction.

[0067] For example, when a user selects a slippery road segment such as a rainy day, foggy day, or snowy day, if the speed of the target vehicle exceeds a preset first threshold, the steering wheel of the target vehicle will deviate from its driving direction. The preset duration is a period of time in the future, and this application does not limit its value in any way.

[0068] In some embodiments, after determining that the steering wheel's control of the target vehicle's direction meets a preset offset condition within a preset time period, the method further includes:

[0069] (1) Based on the first vehicle speed and the correspondence between vehicle speed and steering wheel force, the first force feedback coefficient corresponding to the current first vehicle speed is obtained.

[0070] The first force feedback coefficient refers to the force required for the user to operate the steering wheel. The faster the vehicle speed, the greater the force required to turn the steering wheel; the slower the vehicle speed, the less force is required. A special case is when the vehicle speed is 0, at which point the force required to turn the steering wheel is relatively large. This protects the driver from unnecessarily turning the steering wheel at high speeds, allows for easy steering adjustments at low speeds, and prevents the user from arbitrarily turning the steering wheel when parking. This application does not limit the calculation method of the first force feedback coefficient.

[0071] (2) Based on the first vehicle speed, the first force feedback coefficient and the current first driving direction of the target vehicle, the target offset angle of the target vehicle is obtained.

[0072] The target offset angle refers to the angle between the vehicle's trajectory from point A to point B and the road's direction of travel over a certain period of time. Normally, the angle should be 0°, with the vehicle horizontal to the road. This application does not limit the method of calculating the target offset angle.

[0073] (3) Correct the driving direction of the target vehicle according to the target offset angle until it is determined that the control of the steering wheel on the vehicle direction of the target vehicle does not meet the preset offset conditions.

[0074] In other embodiments, the method further includes:

[0075] A first bias value and a first steering force of the target vehicle's steering wheel are obtained. A target steering force is calculated based on the first steering force and the first bias value, and the steering wheel is controlled according to the target steering force. This method allows for rapid adjustment of the target vehicle's direction of travel to counteract steering wheel deviations caused by vehicle speed or road conditions.

[0076] 105. Generate and output the first prompt message.

[0077] The first prompt message is used to remind the user to control the speed of the target vehicle and pay attention to safe driving. For example, if the user selects a slippery road segment such as rainy, foggy, or snowy weather, and the speed of the target vehicle exceeds a preset first threshold, the steering wheel of the target vehicle will deviate from its driving direction. In this case, the virtual driving control system will promptly remind the user to pay attention to controlling the speed and driving safely through voice and text.

[0078] In some implementations, generating and outputting the first prompt message includes at least one of the following:

[0079] Generate a first prompt message of any type, including text, audio, or video, and output the first prompt message via at least one of the following methods: SMS, instant messaging, email, telephone, or pop-up window.

[0080] Understandably, after prompting the user, if the target vehicle's speed is subsequently detected to be below the first threshold, the driving on the normal road segment will be automatically canceled, the vehicle will exit the abnormal road segment, and the trip will end and exit. After exiting, the vehicle perception model will collect the target vehicle's driving data, including mileage, driving time, error operation points, and driving footage. The vehicle perception model can analyze the effectiveness of each virtual driving training session based on this driving data to continuously adjust and conduct more comprehensive driving simulation tests. An error operation point refers to when the user accelerates the target vehicle on a slippery road segment; this acceleration operation needs to be recorded, and the user can replay the point where the timeout occurred, reminding them to drive at a low speed on slippery roads.

[0081] As can be seen, in this embodiment of the application, by receiving an acceleration command from a user for the target vehicle; responding to the acceleration command, accelerating the target vehicle's speed according to a preset strategy under at least two road segment materials; acquiring the vehicle's first speed in the target driving mode in real time; when the first speed is higher than a first threshold, determining that the steering wheel's control of the target vehicle's driving direction meets a preset offset condition within a preset time period; generating and outputting a first prompt message, which is used to prompt the user to control the target vehicle's speed and pay attention to safe driving. It is evident that by simulating the target vehicle under these road segments, it can be verified that there is a positive relationship between vehicle speed and the steering wheel's force feedback coefficient in the virtual driving scenario (for example, the faster the vehicle speed, the larger the steering wheel's force feedback coefficient; the slower the vehicle speed, the smaller the force feedback; in a special case, even at 0 speed, the force feedback is very large). Therefore, by adjusting the vehicle speed, the target vehicle's driving direction can be controlled to remain within the controllable range of the steering wheel, that is, by reducing the offset of the steering wheel's control over the vehicle's driving direction, the vehicle's driving can be safely controlled.

[0082] Figures 1 to 2 Any technical feature mentioned in the embodiments corresponding to any one of the above also applies to the embodiments of this application. Figure 3 , Figure 4 The corresponding implementation examples will not be repeated hereafter.

[0083] The above describes a virtual driving control method in the embodiments of this application. The following describes the virtual driving control device that executes the above virtual driving control method.

[0084] See Figure 3 ,like Figure 3The diagram shows a structural schematic of a virtual driving control device 20, which can be applied to a virtual driving control system. The virtual driving control system includes a simulator (virtual controller), a vehicle perception model, and a driving scenario simulation platform. The driving scenario simulation platform includes a first area and a second area. The first area displays multiple driving modes, each including at least two road segment materials. The second area currently displays dynamic images of the target driving mode, including a moving target vehicle and at least two road segment materials corresponding to the target driving mode. The dynamic images and trajectory data of the target vehicle in the second area are transmitted to the vehicle perception model via a port. The virtual driving control device 20 in this embodiment can achieve the above-mentioned... Figures 1-2 The steps in the virtual driving control method executed by the virtual driving control device 20 in any corresponding embodiment. The functions implemented by the virtual driving control device 20 can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions, and the modules can be software and / or hardware. The virtual driving control device 20 may include an input / output module 201 and a processing module 202. The functional implementation of the input / output module 201 and the processing module 202 can be referred to... Figures 1-2 The operations performed in any of the corresponding embodiments will not be described in detail here.

[0085] In some implementations, the input / output module 201 can be used to receive acceleration commands from a user for the target vehicle;

[0086] The processing module 202 can be used to accelerate the target vehicle's speed according to a preset strategy in response to the acceleration command under the at least two road segment materials;

[0087] The input / output module 201 is also used to acquire the first speed of the vehicle in the target driving mode in real time;

[0088] The processing module 202 is further configured to determine, when it is determined that the first vehicle speed obtained by the input / output module 201 is higher than the first threshold, that the control of the steering wheel on the driving direction of the target vehicle meets the preset offset condition within a preset time period; generate and output first prompt information through the input / output module 201, the first prompt information being used to prompt the user to control the speed of the target vehicle and pay attention to safe driving.

[0089] In one embodiment, the processing module 202 is specifically configured to perform at least one of the following:

[0090] Generate a first prompt message of any type, including text, audio, or video;

[0091] The input / output module 201 is specifically used to perform at least one of the following:

[0092] The first prompt message may be output via at least one of the following methods: SMS, instant messaging, email, telephone, or pop-up window.

[0093] In one embodiment, after the processing module 202 determines that the steering wheel's control of the target vehicle's direction meets a preset offset condition within a preset time period, it is further configured to:

[0094] Based on the first vehicle speed and the correspondence between vehicle speed and steering wheel force, the first force feedback coefficient corresponding to the current first vehicle speed is obtained;

[0095] The target offset angle of the target vehicle is obtained based on the first vehicle speed, the first force feedback coefficient, and the current first driving direction of the target vehicle.

[0096] The driving direction of the target vehicle is corrected according to the target offset angle until it is determined that the steering wheel's control over the vehicle's direction does not meet the preset offset conditions.

[0097] In one embodiment, the target driving mode corresponds to at least two types of road segment materials, namely normal road segment materials and abnormal weather materials, wherein the abnormal weather materials include at least one of rain, fog, snow, haze, and sandstorm.

[0098] The processing module 202 is specifically used for:

[0099] The input / output module 201 receives the user's first instruction for the target vehicle.

[0100] In response to the first instruction, the speed of the target vehicle under the at least one normal road section material is accelerated;

[0101] In response to the second instruction, the current normal road segment material is switched to road segment material under at least one of the abnormal weather conditions, and the speed of the target vehicle is accelerated under at least one of the abnormal road segment conditions.

[0102] In this solution, by simulating the target vehicle on these road sections, it can be verified that there is a positive relationship between vehicle speed and steering wheel force feedback coefficient in the virtual driving scenario (for example, the faster the vehicle speed, the larger the steering wheel force feedback coefficient; the slower the vehicle speed, the smaller the force feedback). That is, the lighter the steering force of the steering wheel, the more the target vehicle's driving direction can be controlled within the controllable range of the steering wheel by adjusting the vehicle speed. In other words, by reducing the deviation of the steering wheel's control over the vehicle's driving direction, the vehicle's driving can be safely controlled.

[0103] The virtual driving control device 20 for executing the virtual driving control method in the embodiments of this application has been described above from the perspective of modular functional entities. The virtual driving control device 20 for executing the virtual driving control method in the embodiments of this application will now be described below from the perspective of hardware processing. It should be noted that in the embodiments of this application… Figure 3 In the embodiments shown, the physical device corresponding to the input / output module 201 can be a processor, input / output unit, transceiver, radio frequency circuit, communication module, and output interface, etc., and the physical device corresponding to the processing module 202 can be a processor. Figure 3 The virtual driving control device 20 shown can have, for example: Figure 4 The structure shown, when Figure 3 The virtual driving control device 20 shown has the following features: Figure 4 When the structure shown is used, Figure 4 The processor and transceiver in the device can perform the same or similar functions as the input / output module 201 and processing module 202 provided in the aforementioned embodiment of the virtual driving control device 20. Figure 4 The memory stores the computer programs that the processor needs to call when executing the above virtual driving control method.

[0104] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0105] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and modules described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0106] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, apparatuses, or modules, and may be electrical, mechanical, or other forms.

[0107] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0108] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0109] In the above embodiments, the implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, in the form of a computer program product.

[0110] The computer program product includes one or more computer instructions. When the computer program is loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0111] The technical solutions provided in the embodiments of this application have been described in detail above. Specific examples have been used in the embodiments of this application to illustrate the principles and implementation methods of the embodiments of this application. The description of the above embodiments is only for the purpose of helping to understand the methods and core ideas of the embodiments of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the embodiments of this application. Therefore, the content of this specification should not be construed as a limitation on the embodiments of this application.

Claims

1. A virtual driving control method, the method being used in a virtual driving control system, the virtual driving control system comprising a simulator, a vehicle perception model, and a driving scenario simulation platform; characterized in that, The driving scenario simulation platform includes a first area and a second area. The first area displays multiple driving modes, each of which includes at least two road segment materials. The second area currently displays dynamic images of the target driving mode. The dynamic images include a target vehicle in motion and at least two road segment materials corresponding to the target driving mode. The dynamic images and trajectory data of the target vehicle in the second area are transmitted to the vehicle perception model through a port. The method includes: Receive acceleration commands from the user for the target vehicle; In response to the acceleration command, the speed of the target vehicle is accelerated according to a preset strategy under the at least two road segment materials; The vehicle's first speed in the target driving mode is acquired in real time. When the first speed is higher than a first threshold, it is determined that the steering wheel's control of the target vehicle's driving direction meets the preset offset condition within a preset time. Generate and output a first prompt message, which is used to prompt the user to control the speed of the target vehicle and pay attention to safe driving; After determining that the steering wheel's control of the target vehicle's direction meets a preset offset condition within a preset time period, the method further includes: Based on the first vehicle speed and the correspondence between vehicle speed and steering wheel force, the first force feedback coefficient corresponding to the current first vehicle speed is obtained; The target offset angle of the target vehicle is obtained based on the first vehicle speed, the first force feedback coefficient, and the current first driving direction of the target vehicle. The driving direction of the target vehicle is corrected according to the target offset angle until it is determined that the steering wheel's control of the target vehicle's direction does not meet the preset offset conditions. The target driving mode corresponds to at least two types of road segment materials, namely normal road segment materials and abnormal weather materials. The abnormal weather materials include at least one of the following: rain, fog, snow, haze, and sandstorm. The step of receiving an acceleration command from a user for the target vehicle; and responding to the acceleration command by accelerating the target vehicle's speed according to a preset strategy under the at least two road segment materials, including: Receive the user's first instruction for the target vehicle; In response to the first instruction, the speed of the target vehicle under at least one normal road section condition is accelerated; In response to the second instruction, the current normal road segment material is switched to road segment material under at least one of the aforementioned abnormal weather conditions, and the speed of the target vehicle is accelerated under at least one of the aforementioned abnormal weather conditions; Obtain a first bias value and a first steering force of the steering wheel of the target vehicle, and obtain the target steering force based on the first steering force and the first bias value; The steering wheel is controlled to steer according to the target steering force.

2. The virtual driving control method according to claim 1, characterized in that, The generation and output of the first prompt information includes at least one of the following: Generate a first prompt message of any type, including text, audio, or video, and output the first prompt message via at least one of the following methods: SMS, instant messaging, email, telephone, or pop-up window.

3. A virtual driving control device, wherein the virtual driving control device is applied to a virtual driving control system, the virtual driving control system comprising a simulator, a vehicle perception model, and a driving scenario simulation platform; characterized in that, The driving scenario simulation platform includes a first area and a second area. The first area displays multiple driving modes, each of which includes at least two road segment materials. The second area currently displays dynamic images of the target driving mode. The dynamic images include a target vehicle in motion and at least two road segment materials corresponding to the target driving mode. The dynamic images and trajectory data of the target vehicle in the second area are transmitted to the vehicle perception model through a port. The virtual driving control device includes: An input / output module is used to receive acceleration commands from the user for the target vehicle; The processing module is configured to, in response to the acceleration command, accelerate the speed of the target vehicle under the at least two road segment materials according to a preset strategy; The input / output module is also used to acquire the vehicle's first speed in the target driving mode in real time. The processing module is further configured to determine, when it is determined that the first vehicle speed obtained by the input / output module is higher than the first threshold, that the control of the steering wheel on the driving direction of the target vehicle meets the preset offset condition within a preset time period; generate and output first prompt information through the input / output module, the first prompt information being used to prompt the user to control the speed of the target vehicle and pay attention to safe driving; After determining that the steering wheel's control of the target vehicle's direction meets preset offset conditions within a preset time period, the processing module is further configured to: Based on the first vehicle speed and the correspondence between vehicle speed and steering wheel force, the first force feedback coefficient corresponding to the current first vehicle speed is obtained; The target offset angle of the target vehicle is obtained based on the first vehicle speed, the first force feedback coefficient, and the current first driving direction of the target vehicle. The driving direction of the target vehicle is corrected according to the target offset angle until it is determined that the steering wheel's control of the target vehicle's direction does not meet the preset offset conditions. The target driving mode corresponds to at least two types of road segment materials, namely normal road segment materials and abnormal weather materials. The abnormal weather materials include at least one of the following: rain, fog, snow, haze, and sandstorm. The processing module is specifically used for: Receive the user's first instruction for the target vehicle; In response to the first instruction, the speed of the target vehicle under at least one normal road section condition is accelerated; In response to the second instruction, the current normal road segment material is switched to road segment material under at least one of the aforementioned abnormal weather conditions, and the speed of the target vehicle is accelerated under at least one of the aforementioned abnormal weather conditions; Obtain a first bias value and a first steering force of the steering wheel of the target vehicle, and obtain the target steering force based on the first steering force and the first bias value; The steering wheel is controlled to steer according to the target steering force.

4. A computer device, characterized in that, The computer device includes: At least one processor and memory; The memory is used to store computer programs, and the processor is used to invoke the computer programs stored in the memory to execute the method as described in any one of claims 1-2.

5. A computer-readable storage medium, characterized in that, It includes instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-2.

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