Intelligent parking simulation system and method and upper computer

Abstract

The invention relates to the technical field of intelligent driving, in particular to an intelligent parking simulation system and method and an upper computer, a lower computer comprises a vehicle dynamics model, a driving assistance system VTD and a software-defined softECU, the vehicle dynamics model is used for controlling a vehicle to move in a virtual road scene simulated by the VTD according to a parking control signal, and the vehicle dynamics model is used for controlling the vehicle to move in a virtual road scene simulated by the softECU according to the parking control signal. The softECU generates a parking control signal according to the environmental perception information and the whole vehicle signal simulated by the VTD; the real controller board card is used for sensing environment sensing information according to the VTD simulated virtual road scene; and the upper computer performs simulation configuration on the lower computer based on the simulation configuration function, manages the lower computer based on the test management function to perform a simulation test process of the intelligent parking function, acquires simulation test data of the lower computer based on the data acquisition function, and generates a simulation test result of the intelligent parking function. Therefore, the problems of overhigh test risk and cost and long period in the prior art are solved; hIL simulation customization causes lagging and waste; and the environmental perception capability of the MIL is insufficient.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to an intelligent parking simulation system, method and host computer. Background Art

[0002] Automatic parking technology provides convenience and ease for drivers in big cities, addressing the problems of scarce parking spaces, cramped space and different driver skill levels. However, automatic parking technology is widely applicable to various types of vehicles, built on a complex technical architecture, and needs to cope with changing parking scenarios. Its development process requires rigorous testing and verification to ensure efficiency and safety in actual applications.

[0003] Currently, the testing of automatic parking systems mostly relies on real-vehicle testing. Although this method can intuitively show the performance of the vehicle in a real environment, it is accompanied by high costs, collision risks and a long testing cycle. Although the HIL (Hardware-in-the-Loop) simulation test system has a compensatory effect, the interface customization leads to lags and waste of resources. The MIL (Model-in-the-Loop) test is inefficient and costly, but lacks a real sensor environment, making it difficult to fully evaluate the system's adaptability and reliability. Summary of the invention

[0004] The present application provides an intelligent parking simulation system, method and host computer to solve the problems in the prior art such as high testing risk, high cost and long cycle; delay and waste caused by HIL simulation customization; and insufficient perception capability of MIL test environment.

[0005] The first aspect of the present application provides an intelligent parking simulation system, comprising: a lower computer, wherein the lower computer comprises a vehicle dynamics model, a driving assistance system VTD (Virtual Test Drive, simulation tool chain) and a software-defined electronic control unit softECU, wherein the VTD is used to simulate a road scene, the vehicle dynamics model is used to control the movement of a vehicle in a virtual road scene simulated by the VTD according to a parking control signal, and the softECU generates a parking control signal according to environmental perception information and a whole vehicle signal simulated by the VTD; a real controller board, used to perceive environmental perception information according to the virtual road scene simulated by the VTD; an upper computer, wherein the upper computer has a simulation configuration function, a test management function and a data acquisition function, wherein the lower computer is simulated and configured based on the simulation configuration function, the simulation test process of the intelligent parking function of the lower computer is managed based on the test management function, the simulation test data of the lower computer is collected based on the data acquisition function, and the upper computer also generates a simulation test result of the intelligent parking function based on the simulation test data.

[0006] Optionally, the softECU includes a spatial parking space recognition module, a parking planning and control module and a vehicle control signal conversion module, wherein the spatial parking space recognition module recognizes the spatial parking space information in the environmental perception information, the parking planning and control module generates a parking planning instruction according to the spatial parking space information and the whole vehicle signal, and the vehicle control signal conversion module is used to convert the parking planning instruction into a parking control signal.

[0007] Optionally, the VTD generates a surround view signal from a virtual road scene, and renders the surround view signal through a visual rendering station and then inputs the signal into the real controller.

[0008] Optionally, the real controller board includes a video injection module and an environment perception fusion control module, wherein the video injection module is used to input the surround view signal rendered by the scene rendering station into the environment perception fusion control module, and the environment perception fusion control module perceives the surround view signal to obtain environment perception information.

[0009] Optionally, the environmental perception information includes at least one of parking space information, vehicle information and pedestrian information.

[0010] Optionally, the real controller board further includes a power management module, configured to supply power to the real controller board.

[0011] Optionally, the VTD is also used to simulate an ultrasonic radar system, and output an ultrasonic radar simulation signal based on the simulated ultrasonic radar system.

[0012] Optionally, the whole vehicle signal includes vehicle posture, tire contact point and ultrasonic radar simulation signal.

[0013] A second aspect of the present application provides an intelligent parking simulation method, which is used in the intelligent parking simulation system, wherein the method includes the following steps: obtaining the test requirements of the intelligent parking function; simulating and configuring the lower computer according to the test requirements, and controlling the lower computer to jointly execute the simulation test process of the intelligent parking function with the real controller board after the configuration is completed; and generating the simulation test results of the intelligent parking function according to the simulation test data of the lower computer.

[0014] The third aspect of the present application provides a host computer, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the intelligent parking simulation method as described in the above embodiment.

[0015] Therefore, this application includes the following beneficial effects:

[0016] The embodiment of the present application realizes a comprehensive virtual test of the intelligent parking function by integrating the vehicle dynamics model, VTD driver assistance system and softECU in the lower computer, effectively avoiding the safety and economic loss risks of actual road testing, and at the same time, with the help of the rapid iteration capability of the virtual environment, shortening the test cycle and accelerating the test process; at the same time, the flexibility of softECU further eliminates the lag and resource waste of HIL simulation customization, and the introduction of the real controller board and VTD enhances the simulation accuracy of the MIL test environment for the actual vehicle environment perception information. Therefore, the technical problems of the prior art such as high test risk and cost, long cycle; lag and waste caused by HIL simulation customization; and insufficient MIL environmental perception capability are solved.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 is an example diagram of an intelligent parking simulation system according to an embodiment of the present application;

[0020] Figure 2 A schematic diagram of a smart parking simulation principle according to an embodiment of the present application;

[0021] Figure 3 is an example diagram of an intelligent parking simulation system according to an embodiment of the present application;

[0022] Figure 4 A flowchart of an intelligent parking simulation method provided according to an embodiment of the present application;

[0023] Figure 5 A flowchart of an intelligent parking simulation method provided according to an embodiment of the present application;

[0024] Figure 6 Schematic diagram of the structure of the host computer according to the embodiment of the present application. DETAILED DESCRIPTION

[0025] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0026] The following describes the intelligent parking simulation system, method and host computer of the embodiment of the present application with reference to the accompanying drawings. In response to the problem of testing automatic parking in the prototype development stage mentioned in the above background technology, the present application provides an intelligent parking simulation system, in which a comprehensive virtual test of the intelligent parking function is realized by integrating the vehicle dynamics model, VTD driving assistance system and softECU in the lower computer, effectively avoiding the safety and economic loss risks of actual road testing, and at the same time, with the help of the rapid iteration capability of the virtual environment, the test cycle is shortened and the test process is accelerated; at the same time, the flexibility of softECU further eliminates the lag and resource waste of HIL simulation customization, and the introduction of the real controller board and VTD enhances the simulation accuracy of the MIL test environment for the actual vehicle environment perception information. As a result, the problems of high testing risks and costs, long cycles, lags and waste caused by HIL simulation customization, and insufficient MIL environmental perception capabilities in the prior art are solved.

[0027] Specifically, Figure 1 This is an example block diagram of the intelligent parking simulation system provided in an embodiment of the present application.

[0028] like Figure 1 As shown, the intelligent parking simulation system 10 includes: a lower computer 100, a real controller board 200 and a host computer 300.

[0029] Among them, the lower computer 100 includes a vehicle dynamics model, a driving assistance system VTD and a software-defined electronic control unit softECU, VTD is used to simulate road scenes, the vehicle dynamics model is used to control the vehicle to move in a virtual road scene simulated by VTD according to a parking control signal, and softECU generates a parking control signal according to environmental perception information and a whole vehicle signal simulated by VTD; the real controller board 200 is used to perceive environmental perception information according to a virtual road scene simulated by VTD; the upper computer 300 has a simulation configuration function, a test management function and a data acquisition function, and performs simulation configuration on the lower computer 100 based on the simulation configuration function, manages the simulation test process of the intelligent parking function of the lower computer 100 based on the test management function, and collects simulation test data of the lower computer 100 based on the data acquisition function. The upper computer 300 also generates simulation test results of the intelligent parking function based on the simulation test data.

[0030] Among them, the softECU may include a space parking space recognition module, a parking planning and control module, and a vehicle control signal conversion module, the real controller board 200 may include a video injection module and an environment perception fusion control module, and the vehicle signal may include vehicle posture, tire contact point, and ultrasonic radar simulation signal;

[0031] Simulation configuration functions may include vehicle dynamics model parameter configuration, simulation platform software interaction, communication and interface configuration, etc.; test management may include test case design, test sequence generation, test data monitoring, test report generation, etc.

[0032] It can be understood that the embodiment of the present application realizes a comprehensive virtual test of the intelligent parking function by integrating the vehicle dynamics model, VTD driving assistance system and softECU in the lower computer 100, effectively avoiding the safety and economic loss risks of actual road testing, and at the same time shortening the test cycle and accelerating the test process with the help of the rapid iteration capability of the virtual environment. The flexibility of softECU further eliminates the lag and resource waste of HIL simulation customization, while the introduction of the real controller board 200 and VTD enhances the simulation accuracy of the MIL test environment for the actual vehicle environment perception information.

[0033] Specifically, Figure 2 As shown in the figure, VTD is used to simulate road scenes and can realize information interaction such as vehicle dynamics, road environment, sensors, parking control, and vehicle status. The fine control instructions generated by the automatic parking control module need to be accurately converted by the vehicle control signal conversion module in the softECU to adapt to the signal format required by the vehicle dynamics system, such as steering wheel angle instructions, longitudinal acceleration commands, and braking torque distribution.

[0034] During the simulation, the vehicle dynamics module receives the converted lateral and longitudinal control signals and drives the vehicle to accurately execute the parking trajectory in the virtual road scene constructed by VTD. At the same time, using VTD's unique shared memory mechanism, the real-time position and posture information of the vehicle model in the scene can be efficiently synchronized, ensuring the high consistency and real-time performance of the simulation process. This mechanism not only improves the accuracy of the simulation, but also enhances the system's ability to cope with complex parking scenarios.

[0035] In an embodiment of the present application, the spatial parking space recognition module recognizes the spatial parking space information in the environmental perception information, the parking planning and control module generates a parking planning instruction based on the spatial parking space information and the vehicle signal, and the vehicle control signal conversion module is used to convert the parking planning instruction into a parking control signal.

[0036] The environmental perception information includes at least one of parking space information, vehicle information and pedestrian information.

[0037] It can be understood that the embodiment of the present application realizes efficient, intelligent and safe parking of vehicles by integrating space parking space recognition, parking planning and control, and vehicle control signal conversion modules. The system can automatically identify available parking spaces, plan the optimal parking path according to the vehicle status and parking space information, and convert the planning instructions into control signals to directly act on the vehicle, thereby realizing intelligent and automated parking operations.

[0038] Specifically, if Figure 2 As shown, the embodiment of the present application builds a comprehensive simulation test link, which integrates the road scene and virtual sensor module, the environment perception fusion module, the parking planning control module and the vehicle dynamics model to form a closed-loop system. This system uses video injection technology to achieve a 360-degree surround view function, so that the rich information in the virtual scene can be captured and transmitted to the perception fusion controller in real time and accurately.

[0039] The automatic parking planning control module is implemented through a highly integrated algorithm model MIL, which not only ensures the accuracy and efficiency of the parking algorithm, but also gives the system extremely high flexibility. The design of the software interface fully considers configurability, gets rid of the limitations of the traditional vehicle platform interface, and enables the test environment to easily adapt to the needs of different models and configurations.

[0040] The embodiments of the present application not only achieve a high degree of authenticity in environmental perception, that is, the virtual scene can simulate a complex and changeable environment close to the real world, thereby effectively verifying the performance of the perception system; it also ensures the adequacy and flexibility of the parking algorithm test, so that the algorithm can be fully verified under various extreme and marginal conditions, providing solid data support for the optimization and improvement of the algorithm.

[0041] It should be noted that 360-degree surround view uses video injection technology to collect environmental information in the VTD scene, identify lanes, obstacles, parking spaces and other information, and the ultrasonic radar outputs simulated true value information, obstacle distance, spatial parking space information, etc.

[0042] In the embodiment of the present application, VTD generates a surround view signal from a virtual road scene, and the surround view signal is rendered by a visual rendering station and then input into a real controller.

[0043] It is understandable that in the embodiment of the present application, VTD generates virtual road scenes and surround view signals, uses a visual rendering station to render images, and finally inputs the processed images into a real controller for testing, which can simulate various complex situations in the actual road environment, thereby providing rich data input for the system's perception, decision-making and control algorithms. Through VTD simulation testing, the test efficiency can be significantly improved, the test cost can be reduced, and the test safety can be enhanced.

[0044] Specifically, the real controller integrates 360-degree surround video and CAN bus parking information, processes video signals through filtering and recognition algorithms, and integrates and outputs parking space, obstacle and lane line information. A modular design is used to decouple environmental perception and parking control algorithms, and efficient information interaction is achieved through standardized platform interfaces to support intelligent parking decisions.

[0045] It should be noted that the platform content includes communication between modules, hardware board interface, SoftECU model, simulation scenario library and test case library, etc.

[0046] In an embodiment of the present application, the video injection module is used to input the surround view signal rendered by the visual rendering image station into the environment perception fusion control module, and the environment perception fusion control module perceives the surround view signal to obtain environment perception information.

[0047] It can be understood that the embodiment of the present application inputs the surround view signal generated by the visual rendering station into the environmental perception fusion control module through the video injection module, which significantly improves the environmental perception capability of the autonomous driving system and enhances the system safety and overall performance.

[0048] Specifically, the scene simulation software builds a virtual environment and renders a video stream. The video injection module inputs the surround view signal into the environmental perception fusion control module, which combines the information from sensors such as ultrasonic radar and vehicle status such as vehicle speed to obtain environmental perception information through comprehensive analysis.

[0049] In the embodiment of the present application, the real controller board 200 further includes a power management module for supplying power to the real controller board 200 .

[0050] In an embodiment of the present application, VTD is also used to simulate an ultrasonic radar system and output an ultrasonic radar simulation signal based on the simulated ultrasonic radar system.

[0051] Among them, the ultrasonic radar system can include four short-range ultrasonic radars in the forward and backward directions and four long-range ultrasonic radars on each side.

[0052] It can be understood that in the embodiment of the present application, VTD outputs a high-precision simulation signal by simulating the ultrasonic radar system, wherein the ultrasonic radar simulation signal is filtered in the ultrasonic parking space detection softECU and combined with information such as vehicle speed to accurately calculate the spatial parking space information, and is mainly used for the detection of close-range obstacles, supporting functions such as collision avoidance warning and lateral parking space search, thereby improving the test efficiency and safety of the autonomous driving system, reducing costs, and ensuring the authenticity and reliability of the simulation results.

[0053] Specifically, during driving, the ultrasonic radar signal identifies the spatial distance between the lateral obstacle vehicles and the vehicle speed, and uses a certain algorithm to realize parking space recognition and output the parking space recognition result. The vehicle control signal output by the parking control algorithm and the adaptation of the vehicle simulation model interface also need corresponding conversion to achieve accurate control of the vehicle.

[0054] According to the intelligent parking simulation system proposed in the embodiment of the present application, by integrating the vehicle dynamics model, VTD driver assistance system and softECU in the lower computer, a comprehensive virtual test of the intelligent parking function is realized, which effectively avoids the safety and economic loss risks of actual road testing. At the same time, with the rapid iteration capability of the virtual environment, the test cycle is shortened and the test process is accelerated; at the same time, the flexibility of softECU further eliminates the lag and resource waste of HIL simulation customization, and the introduction of the real controller board and VTD enhances the simulation accuracy of the MIL test environment for the actual vehicle environment perception information. Therefore, the problems of high test risks and costs, long cycles, lags and waste caused by HIL simulation customization, and insufficient MIL environmental perception capabilities in the prior art are solved.

[0055] The following will be combined Figure 3 The intelligent parking simulation system is specifically described. The intelligent parking simulation system includes a lower computer, a real controller board and a host computer. The specific contents are as follows:

[0056] The host computer 300 runs on the Windows system and undertakes multiple tasks such as simulation model configuration and loading, test process design and control, comprehensive data collection and automatic test report generation. Its intuitive operation interface and powerful management functions enable users to easily complete complex simulation settings and test management;

[0057] The lower computer 100, which runs in the Linux system environment, integrates the road scene simulation software VTD, which can simulate the simulation signals of key sensors such as ultrasonic radar to ensure the authenticity and diversity of the simulation environment. By loading key information such as softECU, vehicle dynamics model, road scene and sensor, the lower computer 100 runs in real-time machine interaction, realizes real-time communication with the physical controller, and ensures accurate transmission and processing of simulation data. The CAN board serves as a connection bridge to achieve seamless connection between the lower computer 100 and the physical controller.

[0058] The visual rendering station renders the virtual scene constructed by the VTD scene simulation software with high fidelity and outputs realistic video streams through high-performance graphics cards. These video streams are then passed to the video injection module to provide rich visual data input for the environmental perception fusion controller.

[0059] The real controller board 200 may include an environment perception fusion controller, a video injection board, a power module, etc. The video injection board receives the video stream of the scene rendering station and outputs the camera simulation signal to the perception fusion controller through conversion; the power module is responsible for supplying power to the controller, the simulation system board, etc.

[0060] It should be noted that the power supply is used to supply power to the physical controller.

[0061] Next, the intelligent parking simulation method proposed according to the embodiment of the present application is described with reference to the accompanying drawings.

[0062] Figure 4 A flowchart of an intelligent parking simulation method provided in an embodiment of the present application.

[0063] like Figure 4 As shown, the intelligent parking simulation method is used in an intelligent parking simulation system, wherein the method comprises the following steps:

[0064] In step S101, the test requirements of the intelligent parking function are obtained.

[0065] Among them, the test requirements can be environmental perception information and whole vehicle signals, among which environmental perception information is realized through an environmental perception fusion controller, whose interface meets the platform requirements and is decoupled from the vehicle model, and the whole vehicle signal is realized by vehicle model simulation.

[0066] It can be understood that the embodiment of the present application obtains the test requirements of the intelligent parking function, ensures the comprehensiveness and pertinence of the test, and facilitates subsequent simulation testing.

[0067] In step S102, the lower computer is simulated and configured according to the test requirements, and after the configuration is completed, the lower computer is controlled to cooperate with the real controller board to execute the simulation test process of the intelligent parking function.

[0068] It can be understood that the embodiment of the present application accurately simulates and configures the lower computer through the detailed test requirements of the intelligent parking function, and successfully combines this simulation environment with the real controller board to execute a comprehensive intelligent parking function simulation test process, which not only significantly improves the test efficiency and reduces the test cost, but also ensures the accuracy and reliability of the test results by highly simulating the real scene.

[0069] In step S103, a simulation test result of the intelligent parking function is generated according to the simulation test data of the lower computer.

[0070] It is understandable that the embodiment of the present application successfully generates the simulation test results of the intelligent parking function by collecting and analyzing the simulation test data of the lower computer, which provides quantitative indicators and objective basis for evaluating the performance of the intelligent parking function. At the same time, the generation of simulation test results also ensures the quality and reliability of the product, reduces the risks caused by defects, and helps to improve user experience and meet user needs.

[0071] It should be noted that the aforementioned explanation of the embodiment of the intelligent parking simulation system is also applicable to the intelligent parking simulation method of this embodiment, and will not be repeated here.

[0072] According to the intelligent parking simulation method proposed in the embodiment of the present application, by integrating the vehicle dynamics model, VTD driver assistance system and softECU in the lower computer, a comprehensive virtual test of the intelligent parking function is realized, which effectively avoids the safety and economic loss risks of actual road testing. At the same time, with the rapid iteration capability of the virtual environment, the test cycle is shortened and the test process is accelerated; at the same time, the flexibility of softECU further eliminates the lag and resource waste of HIL simulation customization, and the introduction of the real controller board and VTD enhances the simulation accuracy of the MIL test environment for the actual vehicle environment perception information. Therefore, the problems of high test risks and costs, long cycles, lags and waste caused by HIL simulation customization, and insufficient MIL environmental perception capabilities in the prior art are solved.

[0073] The following will be combined Figure 5 The intelligent parking simulation method is specifically described. The simulation test process is based on relevant simulation test software. After the test cases are parameterized, they are loaded into the response automation test software, and the relevant parameters in the simulation model are read and written, and instructions are sent. The test process is controlled according to a certain timing or message triggering method, and the operation of single or multiple test conditions is automatically completed. The automated test for automatic parking algorithm verification can include parking space search function, parking function test of different parking space conditions, parking performance test with reference to Ivista, parking diagnosis test, etc. The specific process is as follows:

[0074] Simulation preparation phase: Start the simulation system, ensure that all necessary software and hardware resources are ready, and start the simulation system platform;

[0075] Power on the controller to ensure that it is in normal working state and ready to receive and execute simulation instructions;

[0076] Loading a simulation model of the intelligent parking function into the simulation system;

[0077] Automated testing process: Configure corresponding test parameters in the simulation system according to test requirements;

[0078] Load preset or customized simulation scenarios, which cover various complex situations that may be encountered in actual parking processes to ensure the comprehensiveness and effectiveness of the test;

[0079] Start the simulation test process. The controller executes the intelligent parking function according to the simulation scenario and test parameters. The simulation system simulates vehicle behavior and environmental changes in real time.

[0080] During the test, the simulation system collects key data in real time;

[0081] When the test reaches the preset conditions or reaches the test time limit, the test ends automatically. At this time, the system loads the test sequence and matches the parameters in the actual test process with the preset test parameters to verify the effectiveness and accuracy of the test.

[0082] Test result processing: Conduct in-depth analysis on the collected test data to evaluate the performance of the smart parking function; generate a detailed test report based on the data analysis results.

[0083] Figure 6 A schematic diagram of the structure of the host computer provided in the embodiment of the present application. The host computer may include:

[0084] A memory 601 , a processor 602 , and a computer program stored in the memory 601 and executable on the processor 602 .

[0085] When the processor 602 executes the program, the intelligent parking simulation method provided in the above embodiment is implemented.

[0086] Furthermore, the host computer also includes:

[0087] The communication interface 603 is used for communication between the memory 601 and the processor 602 .

[0088] The memory 601 is used to store computer programs that can be executed on the processor 602 .

[0089] The memory 601 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0090] If the memory 601, the processor 602 and the communication interface 603 are implemented independently, the communication interface 603, the memory 601 and the processor 602 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0091] Optionally, in a specific implementation, if the memory 601, the processor 602 and the communication interface 603 are integrated on a chip, the memory 601, the processor 602 and the communication interface 603 can communicate with each other through an internal interface.

[0092] The processor 602 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present application.

[0093] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0094] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0095] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0096] It should be understood that the various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, the steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0097] A person of ordinary skill in the art may understand that all or part of the steps carried by the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the above-mentioned program may be stored in a computer-readable storage medium, which, when executed, includes one of the steps of the method embodiment or a combination thereof.

[0098] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. An intelligent parking simulation system, characterized in that: include: A lower computer, wherein the lower computer includes a vehicle dynamics model, a driving assistance system VTD and a software-defined electronic control unit softECU, the VTD is used to simulate a road scene, the vehicle dynamics model is used to control the vehicle to move in a virtual road scene simulated by the VTD according to a parking control signal, and the softECU generates a parking control signal according to environmental perception information and a whole vehicle signal simulated by the VTD; A real controller board, used to perceive environmental perception information based on the virtual road scene simulated by VTD; The upper computer has a simulation configuration function, a test management function and a data acquisition function. The lower computer is simulated and configured based on the simulation configuration function. The simulation test process of the intelligent parking function of the lower computer is managed based on the test management function. The simulation test data of the lower computer is collected based on the data acquisition function. The upper computer also generates a simulation test result of the intelligent parking function according to the simulation test data.

2. The intelligent parking simulation system according to claim 1, characterized in that: The softECU includes a spatial parking space recognition module, a parking planning and control module and a vehicle control signal conversion module, wherein the spatial parking space recognition module recognizes the spatial parking space information in the environmental perception information, the parking planning and control module generates a parking planning instruction according to the spatial parking space information and the whole vehicle signal, and the vehicle control signal conversion module is used to convert the parking planning instruction into a parking control signal.

3. The intelligent parking simulation system according to claim 1, characterized in that: The VTD generates a surround view signal from a virtual road scene, and the surround view signal is rendered by a visual rendering station and then input into the real controller.

4. The intelligent parking simulation system according to claim 3, characterized in that: The real controller board includes a video injection module and an environment perception fusion control module, wherein the video injection module is used to input the surround view signal rendered by the scene rendering station into the environment perception fusion control module, and the environment perception fusion control module perceives the surround view signal to obtain environment perception information.

5. The intelligent parking simulation system according to claim 1, 3 or 4, characterized in that: The environmental perception information includes at least one of parking space information, vehicle information and pedestrian information.

6. The intelligent parking simulation system according to claim 4, characterized in that: The real controller board also includes a power management module, which is used to supply power to the real controller board.

7. The intelligent parking simulation system according to claim 1, characterized in that: The VTD is also used to simulate an ultrasonic radar system and output an ultrasonic radar simulation signal based on the simulated ultrasonic radar system.

8. The intelligent parking simulation system according to claim 6, characterized in that: The whole vehicle signal includes vehicle posture, tire contact point and ultrasonic radar simulation signal.

9. An intelligent parking simulation method, characterized in that: The method is used to control the intelligent parking simulation system according to any one of claims 1 to 8, wherein the method comprises the following steps: Obtain the testing requirements for the smart parking function; Perform simulation configuration on the lower computer according to the test requirements, and after the configuration is completed, control the lower computer to cooperate with the real controller board to execute the simulation test process of the intelligent parking function; Generate a simulation test result of the intelligent parking function according to the simulation test data of the lower computer.

10. A host computer, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the intelligent parking simulation method according to claim 9.

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