Simulation test system and method for automatic driving

Abstract

The invention relates to the technical field of automatic driving, and provides a simulation test system and method for automatic driving. The system comprises a scene simulation module, a map forwarding module and an automatic driving controller module, the scene simulation module is used for analyzing a scene file to obtain initial map data and storing the initial map data, and the stored initial map data is shared to the map forwarding module; the map forwarding module is used for screening target map data from the initial map data based on the vehicle information of the test vehicle, assigning values to the target map data, and sending the data to the automatic driving controller module through middleware; the automatic driving controller module is used for generating control parameters of the test vehicle based on the target map data and the configuration file and sending the control parameters to the scene simulation module, and the scene simulation module controls the test vehicle based on the control parameters. According to the simulation test system provided by the invention, the test effectiveness can be improved.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to a simulation test system and method for autonomous driving. Background Art

[0002] The simulation test environment for autonomous driving vehicles can simulate the real-world geographical environment and road conditions, and realize simulation testing of autonomous driving vehicles under various road conditions, thereby helping developers test the navigation, positioning, path planning and other functions of the autonomous driving system, and improve the safety and reliability of autonomous driving.

[0003] Regarding the problem of map data acquisition faced by autonomous driving systems during the R&D and testing stages, when OEMs develop intelligent driving functions, the necessary map data comes from map manufacturers. However, map manufacturers sometimes do not provide Open Drive files for specific vehicle maps, but only provide interfaces for map data. This leads to a mismatch between map simulation scenarios and the map data of the autonomous driving controller, increasing the development and testing costs of autonomous driving technology. Summary of the invention

[0004] In view of this, an embodiment of the present application provides a simulation test system and method for autonomous driving to solve the problem in the prior art that the test effectiveness is low due to the mismatch between the map simulation scene and the actual map data of the autonomous driving controller.

[0005] In a first aspect of an embodiment of the present application, a simulation test system for autonomous driving is provided, the simulation test system comprising a scene simulation module, a map forwarding module and an autonomous driving controller module; wherein:

[0006] The scenario simulation module is used to parse the pre-stored scenario file to obtain initial map data, store the initial map data based on the data interface protocol of the automatic driving controller module, and share the stored initial map data with the map forwarding module through a shared memory; wherein the scenario file includes road environment information and vehicle information of the test vehicle, and the initial map data includes map element information and vehicle information of the test vehicle;

[0007] The map forwarding module is used to filter the target map data from the initial map data based on the vehicle information of the test vehicle, assign values ​​to the target map data based on the data interface protocol of the automatic driving controller module, and send the configuration file corresponding to the map forwarding module and the assigned target map data to the automatic driving controller module through the middleware; wherein the configuration file is used to make the simulation environment configuration of the scene simulation module consistent with that of the automatic driving controller module;

[0008] The autonomous driving controller module is used to generate control parameters of the test vehicle based on the target map data and configuration files, and send the control parameters to the scenario simulation module, which controls the test vehicle based on the control parameters.

[0009] In a second aspect of an embodiment of the present application, a simulation test method for autonomous driving is provided, which is applied to a map forwarding module in a simulation test system, wherein the simulation test system further includes a scene simulation module and an autonomous driving controller module; the simulation test method includes:

[0010] Acquire the initial map data stored by the scene simulation module, wherein the stored initial map data is stored by the scene simulation module based on the data interface protocol of the automatic driving controller module, and the initial map data is obtained by parsing a pre-stored scene file;

[0011] Filtering target map data from initial map data based on vehicle information of the test vehicle;

[0012] The target map data is assigned based on the data interface protocol of the autonomous driving controller module, and the configuration file corresponding to the map forwarding module and the assigned target map data are sent to the autonomous driving controller module through the middleware, so that the autonomous driving controller module generates control parameters of the test vehicle based on the target map data and the configuration file.

[0013] According to a third aspect of an embodiment of the present application, an electronic device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0014] According to a fourth aspect of an embodiment of the present application, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0015] Compared with the prior art, the embodiments of the present application have the following beneficial effects: the simulation test system includes a scene simulation module, a map forwarding module and an automatic driving control module; the scene simulation module is used to parse the pre-stored scene file to obtain initial map data; the scene file includes road environment information and vehicle information of the test vehicle; the initial map data includes map element information and vehicle information of the test vehicle; the initial map data is stored according to the data interface protocol of the automatic driving controller module, so that the stored initial map data can be called through the data interface protocol of the automatic driving controller module, saving computing power; the stored initial map data is shared with the map forwarding module through shared memory; the map forwarding module is used to filter the target map data from the initial map data according to the vehicle information of the test vehicle, and assign values ​​to the target map data according to the data interface protocol of the automatic driving controller module, and forward the map data to the automatic driving controller module; The configuration file corresponding to the module and the assigned target map data are sent to the autonomous driving controller module through the middleware. The configuration file is used to make the configuration of the scene simulation module consistent with that of the autonomous driving controller module, so that the target map data can be sent to the autonomous driving controller module through the map forwarding module, so that the autonomous driving controller module tests the autonomous driving algorithm according to the target map data; the autonomous driving module is used to generate control parameters of the test vehicle according to the target map data and the configuration file, and send the control parameters to the scene simulation module, which controls the test vehicle according to the control parameters, thereby realizing the visibility of the application of autonomous driving on the test vehicle, and the autonomous driving controller module obtains map data through an external data source (i.e., scene file) to execute the autonomous driving algorithm, which ensures the consistency of map information between the scene simulation module and the autonomous driving controller module, and improves the accuracy and effectiveness of the simulation test. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 is a schematic diagram of a simulation test system for autonomous driving provided in an embodiment of the present application;

[0018] Figure 2 is a schematic diagram of another autonomous driving simulation test system provided in an embodiment of the present application;

[0019] Figure 3 is a schematic diagram of an automatic driving controller module receiving target map data provided by an embodiment of the present application;

[0020] Figure 4 is a schematic diagram of a decision control submodule provided in an embodiment of the present application;

[0021] Figure 5 It is a schematic diagram of data transmission between the time submodule and the visualization submodule provided in an embodiment of the present application;

[0022] Figure 6 It is a flowchart of a simulation test method for autonomous driving provided in an embodiment of the present application;

[0023] Figure 7 It is a flowchart of another simulation test method provided in an embodiment of the present application;

[0024] Figure 8 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0026] A simulation test system and method for autonomous driving according to an embodiment of the present application will be described in detail below with reference to the accompanying drawings.

[0027] Figure 1 Schematic diagram of a simulation test system for autonomous driving provided in an embodiment of the present application. Figure 1 As shown, the simulation test system 100 includes a scene simulation module 101, a map forwarding module 102 and an automatic driving controller module 103, wherein:

[0028] The scene simulation module 101 is used to parse the pre-stored scene file to obtain initial map data, store the initial map data based on the data interface protocol of the automatic driving controller module, and share the stored initial map data with the map forwarding module through a shared memory;

[0029] The scene file includes road environment information and vehicle information of the test vehicle, and the initial map data includes map element information and vehicle information of the test vehicle;

[0030] The map forwarding module 102 is used to filter the target map data from the initial map data based on the vehicle information of the test vehicle, assign values ​​to the target map data based on the data interface protocol of the automatic driving controller module, and send the configuration file corresponding to the map forwarding module and the assigned target map data to the automatic driving controller module through the middleware; wherein the configuration file is used to make the configuration of the scene simulation module consistent with that of the automatic driving controller module;

[0031] The automatic driving controller module 103 is used to generate control parameters of the test vehicle based on the target map data and the configuration file, and send the control parameters to the scenario simulation module, which controls the test vehicle based on the control parameters.

[0032] Specifically, the scene simulation module can process the simulation environment map data, and provide the processed simulation environment map data to the automatic driving controller module for use. The automatic driving controller module stores the automatic driving algorithm, so that the simulation environment of the scene simulation module is consistent with the environment applied by the automatic driving algorithm of the test vehicle, thereby improving the effectiveness of the simulation test system.

[0033] The scene simulation module parses the pre-stored scene files to obtain the initial map data. The scene files include road environment information and vehicle information of the test vehicle. The road environment information may include the geometric type of the road, the hierarchical structure of the road, the geometric information of the lane line, the color and line type of the lane line, traffic lights, various signs, obstacles, etc. The vehicle information may include the motion state, location information, vehicle model, etc. of the test vehicle, so that the scene simulation module can construct the initial map data according to the scene file. In addition, the map element information may include road environment information, including the geometric type of the road, the hierarchical structure of the road, the geometric information of the lane line, the color and line type of the lane line, traffic lights, various signs, obstacles, etc.

[0034] Among them, the method of parsing the pre-stored scene file can be through searching and segmenting, and different data in the scene file can be parsed by corresponding parsing functions. The different data include lane information, road boundaries, lane line information, traffic light information, etc. The parsing function can include a parsing function for parsing line segments, a parsing function for parsing boundaries, a parsing function for parsing signals, a parsing function for parsing lanes, etc.

[0035] In addition, the scene simulation module stores the parsed initial map data according to the data interface protocol defined by the autonomous driving controller module, so that the initial map data stored in the scene simulation module is consistent with the data interface protocol of the autonomous driving controller module, and the initial map data consistent with the data interface protocol of the autonomous driving controller module can be directly read when calling the initial map data, thereby improving the utilization efficiency of the initial map data.

[0036] In addition, the stored initial map data is shared with the map forwarding module through shared memory. The shared memory method enables the map forwarding module to obtain the stored initial map data in real time and without delay. The shared memory method can reduce the delay and overhead of data exchange, thereby improving the real-time and accuracy of the simulation test system.

[0037] In addition, after the map forwarding module reads the initial map data through shared memory, it filters the initial map data according to the vehicle information of the test vehicle to obtain the target map data, thereby ensuring that the target map data filtered by the map forwarding module can accurately and timely match the autonomous driving task. The map forwarding module can be developed and compiled in a Linux environment.

[0038] In addition, the target map data is assigned according to the data interface protocol of the autonomous driving controller module, so that the target map data can be filled into a specific data structure or object, and the corresponding data fields are assigned, which enables the transmission of target map data between different components to comply with the data interface protocol of the autonomous driving controller module, thereby ensuring the consistency and stability of the simulation test system.

[0039] Furthermore, before assigning values ​​to the target map data according to the data interface protocol of the autonomous driving controller module, the target map data may be subjected to secondary processing. The secondary processing may include converting the format of the target map data into a data format that matches the map forwarding module, and may also include aggregating the same map element information, thereby reducing data redundancy and improving processing efficiency; the coordinates of each map element information in the target map data may also be converted into a reference coordinate system corresponding to the autonomous driving controller module, so as to facilitate the autonomous driving controller module to generate test parameters for controlling the test vehicle according to the target map data.

[0040] In addition, the configuration file corresponding to the map forwarding module and the assigned target map data are sent to the autonomous driving controller module through the middleware. The middleware, as the communication hub within the simulation test system, can be responsible for data encapsulation, conversion and routing. The middleware allows the module to call functions or services located on different servers, thereby realizing remote calls and integration, and asynchronous message transmission and communication in distributed systems. The configuration file is used to make the configuration of the scene simulation module consistent with that of the autonomous driving controller module, so that the data transmitted between the scene simulation module and the autonomous driving controller module through the map forwarding module can be directly applied without repeated configuration, thereby improving the efficiency of the simulation test system.

[0041] In addition, specifically, after the autonomous driving controller module receives the target map data and configuration file sent by the map forwarding module, it generates control parameters for the test vehicle based on the target map data and configuration file in combination with the built-in algorithm and logic, wherein the built-in algorithm may be the autonomous driving algorithm to be tested, etc., and the control parameters may include the steering angle, throttle opening, brake opening, gear shifting instructions, etc. of the test vehicle. The control parameters may determine the behavior of the test vehicle in the simulation environment, wherein the autonomous driving control module may be developed and compiled in a Linux environment.

[0042] In addition, the autonomous driving controller module sends the control parameters to the scene simulation module in real time, and the scene simulation module controls the test vehicle according to the control parameters, thereby realizing the simulation test of autonomous driving. The control parameters can be sent to the scene simulation module through the map forwarding module, that is, after generating the control parameters, the autonomous driving controller module sends the control parameters to the map forwarding module, and the map forwarding module sends the control parameters to the scene simulation module after receiving the control parameters, so that the scene simulation module can visualize the autonomous driving method based on the control parameters.

[0043] According to the technical solution provided in the embodiment of the present application, the injection of map data is achieved by autonomously generating map data through the scene simulation module, without the need for a third-party map manufacturer to provide an Open drive file, and the screened target map data and configuration file are sent to the autonomous driving controller module through the map forwarding data by way of the middleware, thereby maintaining the matching of the simulation scene in the simulation test system with the map data in the autonomous driving controller module, improving the development efficiency and maturity of the autonomous driving controller module, and being able to simulate a variety of complex and extreme map conditions in a virtual environment, thereby improving the coverage, diversity and effectiveness of the simulation test of the autonomous driving controller module, and avoiding the problem of low test effectiveness caused by the mismatch between the simulation scene and the map information of the autonomous driving controller module when the map manufacturer fails to provide an Open drive file.

[0044] In some embodiments, the scenario simulation module includes a parsing submodule, the parsing submodule is used to:

[0045] Convert scene files into lightweight text files;

[0046] Extracting vehicle information of the test vehicle from the text file, wherein the vehicle information includes the motion state and position information of the test vehicle;

[0047] The text file is parsed by using preset parsing functions corresponding to different categories of map elements to obtain map element information, and the map element information is merged with vehicle information to obtain initial map data.

[0048] like Figure 2 As shown, the scene simulation module 101 includes a parsing submodule 1011. The parsing submodule can be used to receive a scene file pre-stored outside or inside the scene simulation module. The scene file may include a variety of map element information, and the data volume of the scene file is usually huge and not easy to be directly used for simulation scene testing and simulation scene construction. The parsing submodule can convert the scene file into a lightweight text file. For example, the initial format of the scene file is a plain text (Extensible Markup Language, XML) format file. The parsing submodule can convert its format into a lightweight data exchange (JavaScript Object Notation, JavaScript, JSON) format, so that the structure of the text file is clear, the format is unified, and the map element information of the simulation scene can be stored in a concise form, thereby reducing the complexity of processing the scene file and the consumption of parsing resources.

[0049] Among them, map element information may include lane information, lane line information, road boundaries, traffic lights and other information.

[0050] Furthermore, the initial map data can be packaged into a database for storage so that it can be directly called when performing subsequent autonomous driving test tasks.

[0051] Furthermore, the initial map data includes target map data and other data required to execute the current autonomous driving test task. The other data represents data that is not needed to execute the current autonomous driving test task, and also needs to be stored secondary according to the data interface protocol corresponding to the autonomous driving controller module.

[0052] In addition, after obtaining the lightweight text file, the parsing submodule can further parse the content of the text file to determine the vehicle information corresponding to the test vehicle. The vehicle information includes motion status and position information. The motion status may include the speed, acceleration, driving direction, etc. of the test vehicle.

[0053] In addition, the parsing submodule can parse and extract the map element information in the text file by searching and segmenting the preset parsing functions corresponding to different categories of map element information in the scene file, thereby obtaining the map element information, wherein the map elements are the infrastructure and elements that constitute the traffic environment, such as bridges, roads, tunnels, traffic signs and traffic lights.

[0054] Among them, the preset analysis functions may include a line segment analysis function Line() for analyzing line segments, a boundary analysis function Boundary() for analyzing boundaries, a signal analysis function Signal() for analyzing signals, a lane analysis function Lane() for analyzing lanes, etc., and may also include a type analysis function for analyzing road types, a signal light analysis function for analyzing signal lights, etc.

[0055] In addition, the parsing submodule fuses the extracted map element information with the previously acquired test vehicle information, thereby constructing initial map data that includes vehicle dynamic behavior and static environment information. Through fusion processing, the simulation test system can more accurately simulate the driving conditions of the test vehicle in the actual road environment, including the interaction between vehicles and the interaction between vehicles and the environment, thereby improving the authenticity of the simulation test system.

[0056] According to the technical solution provided in the embodiment of the present application, the parsing submodule can convert the scene file into a lightweight text file that is easy to process, reducing the calculation time and amount of data processing, and can extract map element information and vehicle information from the text file and integrate them into initial map data, providing the simulation test system with more accurate and easy-to-screen data, thereby improving the test efficiency of the simulation test system.

[0057] In some embodiments, the scene simulation module further includes a scene building submodule for:

[0058] Import map information from preset paths and build simulation map scenes based on the map information;

[0059] Generate road files based on simulation map scenes;

[0060] In response to the operation of adding the vehicle information of the test vehicle and the environment information to the road file, the vehicle information of the test vehicle is added to the road file, and based on the preset correspondence between different road types and the environment information, the corresponding environment information is added to the roads of different road types in the road file to generate a scenario file;

[0061] Send the scene file to the parsing submodule.

[0062] Specifically, Figure 2As shown, the scene simulation module 101 also includes a scene construction submodule 1012. The scene construction submodule can build a highly simulated simulation test scene, specifically importing map information from a preset path, wherein the map information includes information such as the relative coordinates of each map element, terrain, landform, and road network. After obtaining the map information, the map information can be built into a simulated map scene through graphics rendering technology and geographic information system principles. During the rendering process, the map information can be rendered according to factors such as the height and depth of the terrain, the width and material of the road, and the layout and appearance of the building.

[0063] In addition, based on the established simulation map scene, the road network structure is further analyzed, and a road file is generated based on the analyzed road network structure. The road file may include the road geometry, road category (such as highways, urban roads, country roads, etc.), intersection information, etc. The road file can provide an accurate road foundation for the autonomous driving algorithm of the test vehicle.

[0064] In addition, you can specify the vehicle information of the test vehicle to be added in the road file, that is, you can choose to add the vehicle type of the test vehicle, such as a sedan, truck, etc. You can also add the size, maximum speed, maximum acceleration, initial position, driving direction, etc. of the test vehicle, and integrate the vehicle information into the road file to facilitate simulation testing based on the vehicle information of the test vehicle.

[0065] In addition, in order to simulate the actual driving environment under different road types, the scene building submodule stores the preset correspondence between different road types and environmental information. The road types can be urban roads, highways, rural roads, mountain roads, etc. The preset correspondence lists in detail the matching relationship between different road types and environmental information. Different environmental information (such as sunny days, rainy days, foggy days) has an impact on the automatic driving of the test vehicle. For example, the complex traffic flow on urban roads corresponds to different automatic driving methods under different environmental information. For example, a slower speed should be used on rainy days, foggy days and snowy days than on sunny days to prevent slipping. Among them, the environmental information can also include light intensity, road wetness, etc., so that the simulation test system can add different environmental information according to the road type where the test vehicle is located, and test the automatic driving test task in different environmental information, thereby enhancing the authenticity and complexity of the simulation test system.

[0066] In addition, the scenario building submodule integrates all the above information to generate a scenario file, which includes the simulation map, road network, test vehicle and its driving path, and environmental information, thus forming a complete simulation test environment. The integrated scenario file is sent to the parsing submodule for further processing and analysis.

[0067] According to the technical solution provided in the embodiment of the present application, sub-modules can be built according to scenarios to increase the authenticity and complexity of the simulation test system and improve the accuracy and efficiency of the simulation test.

[0068] In some embodiments, the map forwarding module includes a configuration submodule and a data forwarding submodule;

[0069] The configuration submodule is used to configure the simulation environment, task management, communication interface and data interface to obtain configuration information, and to encapsulate the data interface and simulation environment to obtain encapsulated information; generate a configuration file based on the configuration information and encapsulated information, and send the configuration file to the data forwarding submodule.

[0070] Specifically, Figure 2 As shown, the map forwarding module 102 includes a configuration submodule 1021 and a data forwarding submodule 1022. The configuration submodule and the data forwarding submodule can work together to ensure that the map forwarding module can efficiently and accurately transfer the corresponding initial map data, target map data or control parameters between the scene simulation module and the automatic driving controller module.

[0071] In addition, the configuration submodule 1021 can set or adjust the environmental parameters of the simulation environment according to actual needs, such as map range, accuracy requirements, terrain characteristics, environmental information, traffic flow, etc., so as to ensure that the simulation environment can be close to the actual application scenario;

[0072] The task management can also be configured, that is, to improve the efficiency of the map forwarding module in forwarding map data. The map data includes initial map data, target map data and control parameters. The configuration content of the task management can include the priority sorting of various tasks, the arrangement of the execution schedule, the definition of the task execution conditions and the retry strategy after the task fails. The task management of the map forwarding module is configured so that the simulation test system can be carried out in an orderly and efficient manner during the data transmission between modules.

[0073] The communication interface can also be configured, that is, according to the actual network environment and transmission requirements, the communication interface can be configured in detail. The configuration content can include the selection of the interface type of the communication interface, the definition of the communication protocol, the allocation of the port number, the agreement of the data format, etc. Through the configuration of the communication interface, the smoothness of the transmission of the target map data or control parameters is guaranteed;

[0074] The data interface can also be configured, that is, the access rights of the data interface can be defined, data encryption measures can be implemented, data exchange protocols can be customized, etc. By configuring the data interface, the efficiency of the map forwarding module in transmitting map data can be improved.

[0075] In addition, the data interface and the simulation environment are encapsulated to obtain encapsulated information, thereby ensuring the security and integrity of the map data. Through the encapsulation process, the target map data or control parameters can be prevented from being tampered with or leaked during the transmission process.

[0076] In addition, after completing the configuration of the simulation environment, task management, communication interface and data interface, they are integrated into configuration information, and a configuration file is generated based on the configuration information and the packaged file. The configuration file records various configuration parameters and settings, and also includes execution scripts or instructions, which can guide the specific operation of the data forwarding sub-module and make the configuration environment in the scene simulation module consistent with the configuration environment in the autonomous driving controller module.

[0077] In addition, the configuration file is sent to the data forwarding submodule 1022, which can be used as a basis for executing the target map data or control parameter forwarding task.

[0078] Furthermore, the data forwarding submodule 1022 can forward target map data or control parameters by parsing the received configuration file, extracting necessary configuration parameters and execution commands, and thus forwarding the target map data to the automatic driving controller module and the control parameters to the scene simulation module according to the communication protocol and interface configured in the configuration file.

[0079] According to the technical solution provided in the embodiment of the present application, the configuration submodule and the data forwarding submodule can work together, and the configuration file generated by the configuration submodule can also make the configuration environment in the scene simulation module and the configuration environment in the automatic driving controller module consistent, so that the process of forwarding target map data or control parameters remains smooth.

[0080] In some embodiments, the map forwarding module further includes a data reading submodule; the data reading submodule is used to:

[0081] Determining a storage path of the stored initial map data, and reading the stored initial map data based on the storage path;

[0082] Filtering target map data from initial map data based on vehicle information of the test vehicle;

[0083] Assigning a value to the target map data based on the data interface protocol of the autonomous driving controller module, and sending the assigned target map data to the data forwarding submodule;

[0084] The data forwarding submodule is used to receive the assigned target map data and configuration file, and call the middleware to send the assigned target map data and configuration file to the automatic driving controller module.

[0085] Specifically, Figure 2As shown, the map forwarding module 102 also includes a data reading submodule 1023, which can retrieve and read the initial map data from the storage medium, and can meet the data transmission requirements of the simulation test system. After determining the storage path of the initial map data after storage, the data reading submodule 1023 can open and read the file corresponding to the initial map data through a file operation interface, such as a file system application programming interface (Application Programming Interface, API), wherein the initial map data includes road networks, traffic signs, signal light information, etc., which can support the autonomous driving algorithm in the autonomous driving controller module to perceive and make decisions about the environment of the test vehicle.

[0086] In addition, target map data can be obtained by filtering the initial map data according to the vehicle information of the test vehicle. The initial map data can be filtered according to the vehicle information of the test vehicle, such as location coordinates, driving direction, driving speed, vehicle type, etc. to obtain the target map data. For example, when the simulation test scenario corresponding to the test vehicle is driving on a highway, the relevant ramp information, traffic signs, service area information, etc. can be used as the key screening objects of the target data.

[0087] In addition, according to the data interface protocol of the autonomous driving controller module, the target map data is assigned, thereby ensuring the accuracy and readability of the target map data, improving the efficiency of the simulation test system, and sending the assigned target map data to the data forwarding submodule.

[0088] Furthermore, the target map data may be encrypted or compressed, thereby improving the transmission efficiency and security of the target map data.

[0089] In addition, the data forwarding submodule 1022 is used to receive the target map data and related configuration files assigned by the data reading submodule 1023. The configuration files include configuration parameters for data transmission, configuration parameters for the built simulation scene, etc. The data forwarding submodule 1022 can call one or more middlewares to send the assigned target map data and configuration files to the automatic driving controller module through the middleware.

[0090] Among them, the middleware can act as a bridge between the data forwarding sub-module and the autonomous driving controller module, and is used for tasks such as routing and error handling of target map data. Through the middleware, the assigned target map data and configuration files can be sent to the autonomous driving controller module safely and efficiently, so that the autonomous driving controller module can make autonomous driving-related decisions based on the target map data and configuration files, and generate control parameters and other operations.

[0091] According to the technical solution provided in the embodiment of the present application, the map forwarding module realizes data transmission between screening target map data from the initial map data and sending the target map data to the autonomous driving controller module through collaboration between the data reading sub-module and the data forwarding sub-module, thereby providing detailed and accurate map data support for the simulation test tasks of the test vehicle in the autonomous driving controller module.

[0092] In some embodiments, the vehicle information of the test vehicle includes location information of the test vehicle; and obtaining target map data from the initial map data based on the vehicle information of the test vehicle includes:

[0093] Determine the location information of the test vehicle as the navigation starting point, and determine the navigation end point corresponding to the autonomous driving test task;

[0094] Determine a navigation map path based on the navigation starting point and the navigation end point, the navigation map path including map element information existing in the path within a preset path range with the navigation path as the center;

[0095] Based on the navigation map path, the initial map data is filtered to obtain the target map data.

[0096] Specifically, the vehicle information of the test vehicle includes the location information of the test vehicle. The location information can be obtained through the global satellite positioning system and other means. The location information may include the latitude and longitude of the test vehicle, the altitude and the vehicle orientation, etc., so as to accurately build the simulation scene and enable the automatic driving controller module to generate accurate control parameters according to the actual situation such as the location information.

[0097] In addition, the location information of the test vehicle is determined as the navigation starting point, and the navigation end point is determined according to the corresponding specific requirements in the autonomous driving test task. The navigation end point can be a preset simulation scene location, a simulated traffic accident scene or a specific road intersection, etc., so as to obtain the control parameters generated by the comprehensive autonomous driving controller module to determine the performance of the autonomous driving algorithm in the autonomous driving controller module in different scenarios.

[0098] In addition, the navigation path can be determined based on the navigation starting point and the navigation end point according to the path planning algorithm, and the navigation map path can be determined according to the navigation path. The navigation map path includes map element information existing in the path within a preset path range centered on the navigation path. For example, with the navigation path as the center, all map element information within 5 kilometers around the navigation path is used as the navigation map path, and the map element information is saved according to the actual road network, shape, size, etc. in the navigation map path.

[0099] Furthermore, multiple feasible paths can be determined based on the navigation starting point and the navigation end point, and multiple corresponding navigation map paths can be determined based on each feasible path. Different navigation map paths may include different road types, speed limit information, construction sections and other factors, thereby increasing the comprehensiveness of the autonomous driving test task.

[0100] In addition, according to the navigation map path, target map data is filtered out from the initial map data, where the target map data may include road marking lines (such as lane lines, lane dividing lines, stop lines, etc.), traffic light status, pedestrian crossings, traffic signs (such as speed limit, no left turn, etc.), intersection layout, obstacle location and type (such as construction fences, vehicles, pedestrians, etc.), and other environmental factors that may affect vehicle driving safety and efficiency.

[0101] According to the technical solution provided in the embodiment of the present application, target map data is screened from the initial map data through the navigation starting point, navigation end point and navigation path information, so that the target map data is more accurate and comprehensive and the data volume is reduced, thereby improving the data transmission efficiency and processing efficiency in the simulation test system.

[0102] In some embodiments, the autonomous driving controller module includes a map component submodule, a data interface submodule, and a decision control submodule;

[0103] The map component submodule is used to receive the Open drive file of the map sent by the third party;

[0104] The data interface submodule is used to disconnect from the map component submodule when it is detected that the map component submodule has not received the Open drive file, receive the target map data and configuration file, and send the target map data and configuration file to the decision control submodule;

[0105] The decision control submodule is used to generate control parameters of the test vehicle based on the target map data and configuration files.

[0106] Specifically, Figure 2 As shown, the autonomous driving controller module 103 includes a map component submodule 1031, a data interface submodule 1032 and a control decision submodule 1033. The above submodules can work together to achieve autonomous driving of the test vehicle.

[0107] In addition, the map component submodule 1031 is used to receive and process map data, and can receive files of map data in the Open Drive format sent from a third party, wherein Open Drive is a map format that includes key data such as the structure of the road network, lane information, traffic signs, and intersection layout, providing an accurate simulation test environment for the test vehicle. By parsing the file including the map data, a digital map required for the test vehicle to travel can be constructed, providing a basis for the decision control process in the decision control submodule.

[0108] like Figure 3 As shown, the data interface submodule is used to disconnect from the map component submodule when it is detected that the map component submodule has not received the Open drive file, that is, the data interface submodule can detect the working status of the map component submodule. When it is detected that the map component submodule has not received the Open drive file of the map as expected, the data interface submodule disconnects the direct connection with the map component submodule, receives the target map data and the corresponding configuration file through the backup data channel or directly, and sends the target map data and the configuration file to the decision control submodule, so that the autonomous driving controller module can perform the autonomous driving test task.

[0109] Among them, the map component submodule may fail to receive the map's Open drive file due to network delays, file corruption, or third-party service terminals.

[0110] In addition, the decision control submodule is used to generate control parameters for controlling the test vehicle to perform autonomous driving test tasks based on the target map data and configuration file, combined with the vehicle information of the test vehicle, where the control parameters include acceleration, braking, steering and other parameters.

[0111] Furthermore, the decision control submodule can optimize the decision logic through algorithm models, such as machine learning models and deep learning models, to improve the safety, comfort and efficiency of autonomous driving.

[0112] Furthermore, if Figure 4 As shown, the decision control submodule may include a positioning planning unit, a sensor fusion unit and a decision control unit, so as to provide intelligent decision making for the autonomous driving test task. The positioning planning unit may plan the vehicle position of the test vehicle in the target map data, and may integrate the physical layout of the road and various factors, such as traffic rules, road speed limits, etc., to update the planned position information of the test vehicle corresponding to the autonomous driving test task in real time, and generate the real-time position information of the test vehicle when actually performing the autonomous driving test task;

[0113] The sensor fusion unit fuses the real-time position information and the planned position information of the test vehicle according to the real-time position information and the planned position information transmitted by the positioning plan. At the same time, it can also simulate the fusion information received by other sensors of the test vehicle, such as sensor information received by laser radar, camera, etc., and fuse it to obtain fusion information. It can also synchronize, denoise, calibrate, etc. the real-time position information and the planned position information to obtain the fused real-time position information and the planned position information that are synchronized with the simulation scene, and send the fusion information to the decision control unit;

[0114] The decision control unit generates control parameters according to the planned path and fusion information. The control parameters correspond to the vehicle information. The control parameters may include acceleration parameters, braking parameters, steering parameters, lane change parameters, and obstacle avoidance parameters.

[0115] According to the technical solution provided in the embodiment of the present application, the autonomous driving controller module can generate control parameters for the test vehicle based on the target map data and configuration file through the map component sub-module, the data interface sub-module and the decision control sub-module, so that the test vehicle can accurately perform the autonomous driving test task.

[0116] In some embodiments, the map forwarding module further includes a time submodule, and the scene simulation module further includes a visualization submodule;

[0117] The time submodule is used to determine a first sending time when the map forwarding module sends the current target map data to the automatic driving controller module; determine a first receiving time when the map forwarding module receives the control parameter; and send the first sending time and the first receiving time to the visualization submodule;

[0118] The visualization submodule is used to control the test vehicle based on the control parameters corresponding to the first receiving time on the target map data corresponding to the first sending time.

[0119] Specifically, Figure 5 As shown, the map forwarding module 102 also includes a time submodule 1024, which can improve the real-time and accuracy of the simulation test system. The time submodule can synchronize the transmission process of the initial map data, target map data and control parameters in the simulation test system. The scene simulation module 101 also includes a visualization submodule 1013, which can intuitively visualize the target map data and control parameters.

[0120] In addition, the time submodule 1024 determines the specific time point when the map forwarding module sends the target map data to the automatic driving controller module, that is, the first sending time, and determines the first receiving time corresponding to the control parameters sent by the automatic driving controller module received by the map forwarding module, and the first receiving time is used to guide the driving behavior of the test vehicle. The time submodule 1024 sends the first sending time and the first receiving time to the visualization submodule 1013 of the scene simulation module, wherein the target map data is updated in real time, the first sending time corresponds to the first receiving time, that is, the control parameters received at the first receiving time are the control parameters of the target map data corresponding to the first sending time, and similarly, the second sending time corresponds to the second receiving time, ..., the nth sending time corresponds to the nth receiving time, until the test vehicle completes the automatic driving test task, and the time submodule will record and store all sending times and receiving times corresponding to the automatic driving test task.

[0121] In addition, after the visualization submodule receives the first sending time and the first receiving time sent by the time submodule, the target map data corresponding to the first sending time can control the driving of the test vehicle according to the control parameters corresponding to the first receiving time.

[0122] The visualization submodule may include a dynamics control submodule, and the dynamics control submodule is used to control the driving of the test vehicle in the visualized simulation scene according to control parameters.

[0123] Furthermore, the visualization submodule needs to load the target map data, the configuration file corresponding to the target map data, and the configuration sensor information.

[0124] According to the technical solution provided in the embodiment of the present application, the timeline of the autonomous driving test task is managed through the time sub-module, and the target map data and the corresponding control parameters are intuitively displayed according to the timeline through the visualization sub-module. This helps developers to deeply understand the performance of the autonomous driving test tasks in the autonomous driving controller module in different scenarios. Through playback and comparative analysis, the autonomous driving algorithm in the autonomous driving controller module can be optimized, the safety and reliability of the autonomous driving system can be improved, and an efficient and accurate platform can be built for autonomous driving test tasks and verification.

[0125] In some embodiments, the map forwarding module further includes an updating submodule, and the updating submodule is used to:

[0126] receiving an update instruction sent by the scene simulation module, the update instruction including map data for updating the simulation scene;

[0127] Based on the map data in the update instruction, the target map data newly received by the map forwarding module is updated so that the automatic driving controller module updates the control parameters of the test vehicle based on the updated target map data.

[0128] Specifically, the map forwarding module also includes an update submodule, which receives update instructions sent by the scene simulation module. The update instructions instruct the scene simulation module to update according to test requirements and actual scene changes, so that the map forwarding module can synchronously update the current test environment. According to the update instructions, the flexibility and practicality of the control parameters generated by the autonomous driving controller module can be better tested, and it can also be used to update autonomous driving test tasks.

[0129] In addition, after receiving the update instruction, the update submodule will merge the map data used to update the simulation scene with the target map data most recently received by the map forwarding module to obtain updated target map data.

[0130] The update process may include adding, deleting, modifying and checking map element information, and may also involve complex operations such as adjusting the map coordinate system and optimizing road connectivity, so that the map forwarding module can ensure that the autonomous driving controller module makes autonomous driving decisions based on the latest and most accurate target map data and generates corresponding control parameters.

[0131] In addition, the autonomous driving controller module will recalculate and update the control parameters of the test vehicle based on the updated target map data. The control parameters will directly guide the test vehicle's driving trajectory, speed, acceleration and other parameters. At the same time, the scenario simulation module will also visualize the test vehicle based on the updated control parameters.

[0132] According to the technical solution provided in the embodiment of the present application, the simulation test system can continuously adapt to the test requirements and obtain more accurate and reliable test results corresponding to the autonomous driving test tasks.

[0133] Figure 6 1 is a flow chart of a simulation test method for autonomous driving provided in an embodiment of the present application. The simulation test method is applied to a map forwarding module in a simulation test system in the above embodiment. The simulation test system further includes a scene simulation module and an autonomous driving controller module. The simulation test method includes the following steps:

[0134] S601, obtaining the initial map data stored by the scene simulation module;

[0135] The stored initial map data is stored by the scenario simulation module based on the data interface protocol of the automatic driving controller module based on the initial map data parsed based on the scenario file, the scenario file includes road environment information and vehicle information of the test vehicle, and the parsed initial map data includes map element information and vehicle information of the test vehicle;

[0136] It should be noted that the specific content of this step can refer to the relevant content of the above-mentioned simulation test system, which will not be repeated here.

[0137] S602, filtering the initial map data to obtain target map data based on the vehicle information of the test vehicle;

[0138] It should be noted that the specific content of this step can refer to the relevant content of the above-mentioned simulation test system, which will not be repeated here.

[0139] S603, assigning the target map data based on the data interface protocol of the autonomous driving controller module, and sending the configuration file corresponding to the map forwarding module and the assigned target map data to the autonomous driving controller module through the middleware, so that the autonomous driving controller module generates control parameters of the test vehicle based on the target map data and the configuration file.

[0140] It should be noted that the specific content of this step can refer to the relevant content of the above-mentioned simulation test system, which will not be repeated here.

[0141] According to the technical solution provided in the embodiment of the present application, it is possible to simulate various complex and extreme map conditions in a simulation environment, and transmit data between the scene simulation module and the autonomous driving controller module through the map forwarding module, thereby ensuring the real-time and consistency of the map data in the scene simulation module and the autonomous driving controller module.

[0142] Figure 7 FIG. 1 is a flow chart of another simulation test method provided in an embodiment of the present application. Figure 7 As shown in the figure, the simulation test process includes:

[0143] According to the requirements of the autonomous driving test task, a simulation map scene (i.e., simulation scene) is built through the scene simulation module, where the simulation scene includes information such as the geometric type of the road, the hierarchical structure of the road, the geometric information of the lane line, the color and line type of the lane line, traffic lights, various signs, etc.; road files and visualization files are generated according to the simulation scene.

[0144] In the scenario simulation module, use the dynamic scenario editing software to add road files and visualization files, and then add dynamic information based on the added road files and visualization files, such as the behavior of the test vehicle, the actions of other vehicles, and obstacles. After completion, save it as a scenario file, which can be directly run in the scenario software.

[0145] The scene file can be converted into a lightweight text file using an open source library, and the motion status and position information of the test vehicle can be obtained from the text file. The initial map data can be extracted and processed by processing the text file (i.e., the lightweight scene file). The initial map data includes lane information, lane line information, road boundaries, traffic lights and other information. The processed initial map data is passed to the map forwarding module through shared memory.

[0146] The map forwarding module receives data transmitted by the map plug-in (the map plug-in is used to read the initial map data in a shared memory manner) through shared memory. After receiving the initial map data, the map forwarding module performs secondary processing on the initial map data to obtain target map data, implements an interface protocol consistent with the target map data and the autonomous driving controller module, and assigns a value to the target map data; after the assignment is completed, the map data processed by the map forwarding module and the map configuration information are published to the data communication framework of the autonomous driving controller module through the middleware through the configuration of the communication port, task enable, and interface data management of the map forwarding module, and the data connection of the map component sub-module inside the autonomous driving controller module is cut off. The data sent by the map forwarding module through the middleware is directly passed to the subsequent modules for use.

[0147] The decision control module processes the target map data to generate horizontal and vertical control parameters, which are then output to the dynamic control submodule of the scene simulation module to control the movement of the test vehicle.

[0148] In addition, after the scenario file is generated, the scenario simulation module loads the configuration file and the scenario file, configures the sensor information and the enabling status, and configures the power system.

[0149] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0150] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0151] Figure 8 Schematic diagram of an electronic device 8 provided in an embodiment of the present application. Figure 8As shown, the electronic device 8 of this embodiment includes: a processor 801, a memory 802, and a computer program 803 stored in the memory 802 and executable on the processor 801. When the processor 801 executes the computer program 803, the steps in the above-mentioned method embodiments are implemented. Alternatively, when the processor 801 executes the computer program 803, the functions of the modules / units in the above-mentioned device embodiments are implemented.

[0152] The electronic device 8 may be a desktop computer, a notebook, a PDA, a cloud server, or other electronic device. The electronic device 8 may include, but is not limited to, a processor 801 and a memory 802. Those skilled in the art will appreciate that Figure 8 The electronic device 8 is merely an example and does not limit the electronic device 8 . The electronic device 8 may include more or fewer components than those shown in the figure, or different components.

[0153] The processor 801 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0154] The memory 802 may be an internal storage unit of the electronic device 8, for example, a hard disk or memory of the electronic device 8. The memory 802 may also be an external storage device of the electronic device 8, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 8. The memory 802 may also include both an internal storage unit of the electronic device 8 and an external storage device. The memory 802 is used to store computer programs and other programs and data required by the electronic device.

[0155] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0156] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium (e.g., a computer-readable storage medium). Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, which may be in source code form, object code form, executable file or some intermediate form. Computer-readable storage media may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0157] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A simulation test system for autonomous driving, characterized in that: The simulation test system includes a scene simulation module, a map forwarding module and an automatic driving controller module; wherein, The scenario simulation module is used to parse the pre-stored scenario file to obtain initial map data, store the initial map data based on the data interface protocol of the automatic driving controller module, and share the stored initial map data with the map forwarding module through a shared memory; wherein the scenario file includes road environment information and vehicle information of the test vehicle, and the initial map data includes map element information and vehicle information of the test vehicle; The map forwarding module is used to filter the target map data from the initial map data based on the vehicle information of the test vehicle, assign values ​​to the target map data based on the data interface protocol of the automatic driving controller module, and send the configuration file corresponding to the map forwarding module and the assigned target map data to the automatic driving controller module through the middleware; wherein the configuration file is used to make the configuration of the scenario simulation module consistent with that of the automatic driving controller module; The automatic driving controller module is used to generate control parameters of the test vehicle based on the target map data and the configuration file, and send the control parameters to the scenario simulation module, and the scenario simulation module controls the test vehicle based on the control parameters.

2. The autonomous driving simulation test system according to claim 1, characterized in that: The scene simulation module includes a parsing submodule, and the parsing submodule is used to: Convert the scene file into a lightweight text file; Extracting vehicle information of the test vehicle from the text file, wherein the vehicle information includes the motion state and position information of the test vehicle; The text file is parsed by using preset parsing functions corresponding to different types of map elements to obtain map element information, and the map element information is merged with the vehicle information to obtain the initial map data.

3. The autonomous driving simulation test system according to claim 2, characterized in that: The scene simulation module also includes a scene building submodule, which is used to: Importing map information from a preset path, and building a simulated map scene based on the map information; Based on the simulation map scene, generating a road file; In response to the adding operation of adding the vehicle information of the test vehicle and the environmental information to the road file, the vehicle information of the test vehicle is added to the road file, and based on the preset correspondence between different road types and environmental information, the corresponding environmental information is added to the roads of different road types in the road file to generate the scenario file; The scene file is sent to the parsing submodule.

4. The autonomous driving simulation test system according to claim 1, characterized in that: The map forwarding module includes a configuration submodule and a data forwarding submodule; The configuration submodule is used to configure the simulation environment, task management, communication interface and data interface to obtain configuration information, and to encapsulate the data interface and the simulation environment to obtain encapsulated information; A configuration file is generated based on the configuration information and the encapsulated information, and the configuration file is sent to the data forwarding submodule.

5. The autonomous driving simulation test system according to claim 4, characterized in that: The map forwarding module also includes a data reading submodule; the data reading submodule is used to: determining a storage path of the stored initial map data, and reading the stored initial map data based on the storage path; Filtering the initial map data to obtain target map data based on the vehicle information of the test vehicle; Assigning a value to the target map data based on the data interface protocol of the automatic driving controller module, and sending the assigned target map data to the data forwarding submodule; The data forwarding submodule is used to receive the assigned target map data and the configuration file, and call the middleware to send the assigned target map data and the configuration file to the automatic driving controller module.

6. The autonomous driving simulation test system according to claim 1 or 5, characterized in that: The vehicle information of the test vehicle includes the location information of the test vehicle; the step of filtering the target map data from the initial map data based on the vehicle information of the test vehicle includes: Determine the location information of the test vehicle as the navigation starting point, and determine the navigation end point corresponding to the autonomous driving test task; Determine a navigation map path based on the navigation starting point and the navigation end point, wherein the navigation map path includes map element information existing in the path within a preset path range with the navigation path as the center; Based on the navigation map path, the initial map data is screened to obtain target map data.

7. The autonomous driving simulation test system according to claim 1, characterized in that: The autonomous driving controller module includes a map component submodule, a data interface submodule and a decision control submodule; The map component submodule is used to receive the Open drive file of the map sent by a third party; The data interface submodule is used to disconnect from the map component submodule when detecting that the map component submodule has not received the Open drive file, receive the target map data and the configuration file, and send the target map data and the configuration file to the decision control submodule; The decision control submodule is used to generate control parameters of the test vehicle based on the target map data and the configuration file.

8. The autonomous driving simulation test system according to claim 1, characterized in that: The map forwarding module also includes a time submodule, and the scene simulation module also includes a visualization submodule; The time submodule is used to determine a first sending time when the map forwarding module sends the current target map data to the automatic driving controller module; Determine a first receiving time when the map forwarding module receives the control parameter; Sending the first sending time and the first receiving time to a visualization submodule; The visualization submodule is used to control the test vehicle based on the control parameters corresponding to the first receiving time on the target map data corresponding to the first sending time.

9. The autonomous driving simulation test system according to claim 1, characterized in that: The map forwarding module further includes an updating submodule, which is used to: receiving an update instruction sent by the scene simulation module, wherein the update instruction includes map data for updating the simulation scene; Based on the map data in the update instruction, the target map data most recently received by the map forwarding module is updated, so that the automatic driving controller module updates the control parameters of the test vehicle based on the updated target map data.

10. A simulation test method for autonomous driving, characterized in that: A map forwarding module applied to a simulation test system, wherein the simulation test system further comprises a scene simulation module and an automatic driving controller module; the simulation test method comprises: Acquire initial map data stored by a scenario simulation module, wherein the stored initial map data is obtained by parsing a scenario file based on a data interface protocol of the automatic driving controller module, wherein the scenario file includes road environment information and vehicle information of a test vehicle, and the initial map data obtained by parsing includes map element information and vehicle information of the test vehicle; Filtering the stored initial map data to obtain target map data based on the vehicle information of the test vehicle; The target map data is assigned based on the data interface protocol of the autonomous driving controller module, and the configuration file corresponding to the map forwarding module and the assigned target map data are sent to the autonomous driving controller module through middleware, so that the autonomous driving controller module generates control parameters of the test vehicle based on the target map data and the configuration file.

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