Vehicle simulation test method and device, computer equipment, readable storage medium and program product

Abstract

The invention relates to a vehicle simulation test method and device, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps of generating a to-be-tested vehicle in simulation software based on a test requirement, and obtaining a to-be-tested driving scene and various road scenes from a scene library; determining road elements corresponding to each road scene based on the to-be-detected driving scene; generating a target continuous road network in simulation software based on the test requirement, the driving data of the to-be-tested vehicle and the road elements; and controlling the to-be-tested vehicle to run in the target continuous road network based on the driving data so as to test the to-be-tested vehicle. According to the method provided by the invention, the authenticity of testing the vehicle can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle testing technology, and in particular to a vehicle simulation testing method, apparatus, computer equipment, computer-readable storage medium, and computer program product. Background Art

[0002] With the rapid development of the smart driving car industry, the demand for vehicle testing is increasing. The current method of testing vehicles is mainly based on the fragmented test cases provided by the scenario library to perform software-in-the-loop testing on the vehicle. However, this testing method cannot completely restore the actual driving environment of the vehicle and the overall state of the vehicle during driving, and the authenticity of the test is low. Summary of the invention

[0003] Based on this, it is necessary to provide a vehicle simulation test method, device, computer equipment, computer-readable storage medium and computer program product that can effectively improve the authenticity of the test in response to the above-mentioned technical problems.

[0004] In a first aspect, the present application provides a vehicle simulation test method, the method comprising:

[0005] Generate the vehicle to be tested in the simulation software based on the test requirements, and obtain the driving scenarios and various road scenarios to be tested from the scenario library;

[0006] Based on the driving scene to be tested, determining the road elements corresponding to each road scene;

[0007] Based on the test requirements, the driving data of the vehicle to be tested and the road elements, generating a target continuous road network in the simulation software;

[0008] The vehicle to be tested is controlled to travel in the target continuous road network based on the driving data to test the vehicle to be tested.

[0009] In one embodiment, the road elements include static elements and dynamic elements; generating a target continuous road network in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements includes:

[0010] Generate a road element information library based on the element information of the road element, and delete the element information of the dynamic element in the road element information library;

[0011] Based on the remaining element information in the road element information library, the multiple road scenes are spliced ​​to obtain an initial continuous road network;

[0012] Based on the test requirements, the driving data and the initial continuous road network, the target continuous road network is generated in the simulation software.

[0013] In one embodiment, generating the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network includes:

[0014] Generate a traffic flow in the initial continuous road network based on the test requirements and the driving data to obtain an intermediate continuous road network;

[0015] Obtain interference behavior data, and based on the test requirements, the driving data, the traffic flow information of the traffic flow, and the interference behavior data, generate at least one interfering traffic participant in the intermediate continuous road network to obtain the target continuous road network.

[0016] In one embodiment, the traffic flow includes multiple traffic participants; the traffic flow information includes the number of traffic participants, the types of traffic participants, the proportion of each type of traffic participants, the speed of each traffic participant, and the location information of each traffic participant in the intermediate continuous road network.

[0017] In one embodiment, after controlling the vehicle to be tested to travel in the target continuous road network based on the driving data to test the vehicle to be tested, the method further includes:

[0018] Acquiring test data of the vehicle to be tested;

[0019] For each interfering traffic participant in the target continuous road network, if the corresponding test data of the interfering traffic participant does not meet the test requirements, adjusting the interfering behavior data of the interfering traffic participant;

[0020] Based on the driving data and the adjusted interference behavior data, the vehicle to be tested is controlled to travel in the target continuous road network after the data is adjusted, so as to retest the vehicle to be tested.

[0021] In one embodiment, the interfering behavior that interferes with the traffic participant includes at least one of changing lanes, overtaking, crossing the road, following the test vehicle, or colliding with the test vehicle.

[0022] In a second aspect, the present application also provides a vehicle simulation test device, the device comprising:

[0023] The first generation module is used to generate a vehicle to be tested in the simulation software based on the test requirements, and obtain the driving scene to be tested and multiple road scenes from the scene library;

[0024] A determination module, used for determining the road elements corresponding to each road scene based on the driving scene to be tested;

[0025] A second generating module, configured to generate a target continuous road network in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements;

[0026] A control module is used to control the vehicle to be tested to travel in the target continuous road network based on the driving data, so as to test the vehicle to be tested.

[0027] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method in any one of the above embodiments when executing the computer program.

[0028] In a fourth aspect, the present application further provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method in any one of the above embodiments are implemented.

[0029] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the method in any one of the above embodiments are implemented.

[0030] The above-mentioned vehicle simulation test method, device, computer equipment, computer-readable storage medium and computer program product generate a vehicle to be tested in the simulation software based on the test requirements, and obtain the driving scene to be tested and multiple road scenes from the scene library; determine the road elements corresponding to each road scene based on the driving scene to be tested; generate a target continuous road network in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements; control the vehicle to be tested to drive in the target continuous road network based on the driving data to test the vehicle to be tested. The method provided by the present application can effectively improve the authenticity of vehicle testing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions 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 related drawings can be obtained based on these drawings without paying creative work.

[0032] FIG1 is a schematic diagram of a flow chart of a vehicle simulation test method in one embodiment;

[0033] FIG2 is a schematic diagram of a process of generating a target continuous road network in one embodiment;

[0034] FIG3 is a schematic flow chart of a vehicle simulation test method in another embodiment;

[0035] FIG4 is a structural block diagram of a vehicle simulation test device in one embodiment;

[0036] FIG. 5 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] In one embodiment, as shown in FIG1 , a vehicle simulation test method is provided. This embodiment is illustrated by applying the method to a terminal. It is understandable that the method can also be applied to a server, or to a system including a terminal and a server, and implemented through the interaction between the terminal and the server. In this embodiment, the method includes the following steps:

[0039] S102: Generate a vehicle to be tested in the simulation software based on the test requirements, and obtain driving scenarios and multiple road scenarios to be tested from a scenario library.

[0040] Among them, the scenario library refers to a set of pre-defined and designed test scenarios used to simulate and test the performance, safety and functions of the vehicle in different situations; the driving scenario to be tested refers to various different situations or conditions that the vehicle may encounter in the actual road environment. These situations may involve road conditions, traffic conditions, environmental factors and the status of the vehicle itself. For example, the driving scenario to be tested can be a normal driving scenario, a high-speed driving scenario, a congested driving scenario or a night driving scenario; the road scene refers to the collection of all physical and geometric features that constitute the road environment.

[0041] S104: Determine the road elements corresponding to each road scene based on the driving scene to be tested.

[0042] Among them, road elements refer to the basic components that constitute the physical and geometric characteristics of roads. For example, road elements may include straight roads, curves, intersections, roundabouts, ramps, ramps, tunnels, and bridges.

[0043] Optionally, since the driving scenario to be tested is obtained from the scenario library based on the test requirements, the requirements for the road during the test process can be determined according to the driving scenario to be tested, so that the corresponding road elements for each road scenario can be determined.

[0044] S106: Generate a target continuous road network in the simulation software based on the test requirements, the driving data of the vehicle to be tested, and the road elements.

[0045] Optionally, based on the test requirements and the driving data of the vehicle to be tested, the corresponding element information of each road element can be determined, and then the road elements and road scenes can be spliced ​​according to the logic of the real road network, and appropriate transition connection areas can be added at the connection points of each road element to ensure that the final target continuous road network can be used for normal driving of the vehicle to be tested.

[0046] S108. Control the vehicle to be tested to travel in the target continuous road network based on the driving data to test the vehicle to be tested.

[0047] The driving data may include the speed, movement direction, position coordinates and movement trajectory of the vehicle to be tested.

[0048] In the above vehicle simulation test method, a vehicle to be tested is generated in the simulation software based on the test requirements, and the driving scenes to be tested and multiple road scenes are obtained from the scene library; based on the driving scenes to be tested, the road elements corresponding to each road scene are determined; based on the test requirements, the driving data of the vehicle to be tested and the road elements, a target continuous road network is generated in the simulation software; based on the driving data, the vehicle to be tested is controlled to travel in the target continuous road network to test the vehicle to be tested. The method provided by the present application can effectively improve the authenticity of vehicle testing.

[0049] In some embodiments, as shown in FIG. 2 , the road elements include static elements and dynamic elements; based on the test requirements, the driving data of the vehicle to be tested, and the road elements, a target continuous road network is generated in the simulation software, including:

[0050] S202: Generate a road element information library based on the element information of the road elements, and delete the element information of the dynamic elements in the road element information library.

[0051] S204: Based on the remaining element information in the road element information library, multiple road scenes are spliced ​​to obtain an initial continuous road network.

[0052] S206: Generate a target continuous road network in the simulation software based on the test requirements, driving data and the initial continuous road network.

[0053] Among them, static elements refer to elements in the road scene that do not change with time and are not directly affected by traffic flow; dynamic elements refer to elements in the road scene that change with time or whose status is affected by traffic flow; element information refers to the specific data and characteristics of road elements. For example, the element information of a curve may include the curvature range and the speed limit of the curve.

[0054] In this embodiment, in the process of splicing to obtain the initial continuous road network, the element information of the dynamic elements will be deleted, so that dynamic elements can be flexibly added according to needs during the test process, thereby making the test results more realistic.

[0055] In some embodiments, a target continuous road network is generated in simulation software based on test requirements, driving data and an initial continuous road network, including: generating traffic flow in the initial continuous road network based on test requirements and driving data to obtain an intermediate continuous road network; obtaining interference behavior data, and generating at least one interfering traffic participant in the intermediate continuous road network based on test requirements, driving data, traffic flow information of the traffic flow, and interference behavior data to obtain a target continuous road network.

[0056] Among them, the interfering traffic participants refer to the traffic participants that will affect the driving process of the vehicle under test; the interfering behavior data refers to the movement data of the interfering traffic participants during the test of the vehicle under test, for example, the movement data may include speed, movement direction, position coordinates and movement trajectory.

[0057] In this embodiment, by sequentially generating traffic flows and interfering with traffic participants in the initial continuous road network, the generated target continuous road network can be made more realistic, thereby making the test process of the vehicle to be tested more realistic.

[0058] In some embodiments, the traffic flow includes multiple traffic participants; the traffic flow information includes the number of traffic participants, the type of traffic participants, the proportion of each type of traffic participants, the speed of each traffic participant, and the location information of each traffic participant in the intermediate continuous road network.

[0059] Optionally, traffic participants may include, but are not limited to, pedestrians, cars, buses, trucks, and motorcycles.

[0060] In some embodiments, after controlling the vehicle to be tested to travel in the target continuous road network based on the driving data to test the vehicle to be tested, it also includes: acquiring the test data of the vehicle to be tested; for each interfering traffic participant in the target continuous road network, if the corresponding test data of the interfering traffic participant does not meet the test requirements, adjusting the interference behavior data of the interfering traffic participant; based on the driving data and the adjusted interference behavior data, controlling the vehicle to be tested to travel in the target continuous road network after the data is adjusted to retest the vehicle to be tested.

[0061] Among them, the corresponding test data of interfering traffic participants does not meet the test requirements, which means that the behavior of interfering traffic participants during the test did not affect the driving of the vehicle to be tested. In this way, the test process did not achieve the desired effect. It is necessary to adjust the interference behavior data of interfering traffic participants and continue testing until the desired test effect is achieved.

[0062] In this embodiment, when the corresponding test data of the interfering traffic participant does not meet the test requirements, the interfering behavior data of the interfering traffic participant is adjusted and the test is continued, so that the test result is more real and accurate.

[0063] In some embodiments, the interfering behavior of the traffic participant includes at least one of changing lanes, overtaking, crossing the road, following the test vehicle, or colliding with the test vehicle.

[0064] In one embodiment, as shown in FIG3 , another vehicle simulation test method is provided, the method comprising the following contents:

[0065] The basic road networks of different road types in the scenario library are logically and rationally spliced ​​to form a continuous road network for simulated vehicles to travel; after the simulation road network is built, the simulation road network is imported into the simulation software, and the basic information of the vehicle to be tested, including the driver model, driving trajectory, etc., is set to generate a basic continuous dynamic test scene; the random traffic flow generation system is used to set the random traffic flow around the vehicle to be tested to generate the initial continuous dynamic test scene; according to the driving trajectory of the vehicle to be tested and the dynamic information of the random traffic flow, the interference element generation system is used to refer to different categories of dynamic scenes to generate interference elements with different dynamic parameters; in order to maximize the coverage of the simulation test scene and improve the simulation efficiency, it is also necessary to specify the overall proportion of different interference vehicle types, and select the minimum interference vehicle test set according to the proportion. Finally, the dynamic information of the interference element can be adjusted to ensure that the vehicle to be tested can complete the set tests, making the simulation scene more realistic, and finally generating a continuous dynamic simulation scene that meets the overall functional test of the intelligent driving vehicle.

[0066] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0067] Based on the same inventive concept, the embodiment of the present application also provides a vehicle simulation test device for implementing the vehicle simulation test method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle simulation test device embodiments provided below can refer to the limitations of the vehicle simulation test method above, and will not be repeated here.

[0068] In an exemplary embodiment, as shown in FIG4 , a vehicle simulation test device 400 is provided, comprising: a first generation module 401 , a determination module 402 , a second generation module 403 and a control module 404 , wherein:

[0069] The first generation module 401 is used to generate a vehicle to be tested in the simulation software based on the test requirements, and obtain the driving scenes to be tested and various road scenes from the scene library.

[0070] The determination module 402 is used to determine the road elements corresponding to each road scene based on the driving scene to be tested.

[0071] The second generation module 403 is used to generate a target continuous road network in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements.

[0072] The control module 404 is used to control the vehicle to be tested to travel in the target continuous road network based on the driving data, so as to test the vehicle to be tested.

[0073] In some embodiments, the road elements include static elements and dynamic elements; the second generation module 403 includes:

[0074] The first generating unit is used to generate a road element information library based on the element information of the road element, and delete the element information of the dynamic element in the road element information library.

[0075] A splicing unit is used to splice the multiple road scenes based on the remaining element information in the road element information library to obtain an initial continuous road network.

[0076] The second generating unit is used to generate the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network.

[0077] In some embodiments, the second generation unit is also used to generate a traffic flow in the initial continuous road network based on the test requirements and the driving data to obtain an intermediate continuous road network; obtain interference behavior data, and generate at least one interfering traffic participant in the intermediate continuous road network based on the test requirements, the driving data, the traffic flow information of the traffic flow, and the interference behavior data to obtain the target continuous road network.

[0078] In some embodiments, the second generating unit is also used to include multiple traffic participants in the traffic flow; the traffic flow information includes the number of the traffic participants, the types of the traffic participants, the proportion of each type of traffic participants, the speed of each traffic participant, and the location information of each traffic participant in the intermediate continuous road network.

[0079] In some embodiments, the second generating unit is also used to obtain test data of the vehicle to be tested; for each interfering traffic participant in the target continuous road network, when the corresponding test data of the interfering traffic participant does not meet the test requirements, adjust the interference behavior data of the interfering traffic participant; based on the driving data and the adjusted interference behavior data, control the vehicle to be tested to travel in the target continuous road network after the data is adjusted to retest the vehicle to be tested.

[0080] In some embodiments, the second generating unit is further configured to interfere with the traffic participant's interference behavior including at least one of changing lanes, overtaking, crossing the road, following the test vehicle, or colliding with the test vehicle.

[0081] Each module in the above vehicle simulation test device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0082] In an exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be shown in FIG5. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, the memory, and the input / output interface are connected via a system bus, and the communication interface, the display unit, and the input device are connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, a near field communication (NFC) or other technologies. When the computer program is executed by the processor, a vehicle simulation test method is implemented.

[0083] Those skilled in the art will understand that the structure shown in FIG. 5 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0084] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: generating a vehicle to be tested in simulation software based on test requirements, and obtaining driving scenes to be tested and multiple road scenes from a scene library; determining the road elements corresponding to each road scene based on the driving scenes to be tested; generating a target continuous road network in the simulation software based on the test requirements, driving data of the vehicle to be tested and the road elements; and controlling the vehicle to be tested to drive in the target continuous road network based on the driving data to test the vehicle to be tested.

[0085] In one embodiment, the road elements implemented when the processor executes the computer program include static elements and dynamic elements; the target continuous road network is generated in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements, including: generating a road element information library based on the element information of the road elements, and deleting the element information of the dynamic elements in the road element information library; splicing the multiple road scenes based on the remaining element information in the road element information library to obtain an initial continuous road network; generating the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network.

[0086] In one embodiment, the processor executes a computer program to generate the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network, including: generating a traffic flow in the initial continuous road network based on the test requirements and the driving data to obtain an intermediate continuous road network; obtaining interference behavior data, and generating at least one interfering traffic participant in the intermediate continuous road network based on the test requirements, the driving data, the traffic flow information of the traffic flow, and the interference behavior data to obtain the target continuous road network.

[0087] In one embodiment, the traffic flow implemented when the processor executes the computer program includes multiple traffic participants; the traffic flow information includes the number of traffic participants, the type of traffic participants, the proportion of each type of traffic participants, the speed of each traffic participant, and the location information of each traffic participant in the intermediate continuous road network.

[0088] In one embodiment, after the processor executes a computer program to control the vehicle to be tested to travel in the target continuous road network based on the driving data to test the vehicle to be tested, it also includes: acquiring the test data of the vehicle to be tested; for each interfering traffic participant in the target continuous road network, if the corresponding test data of the interfering traffic participant does not meet the test requirements, adjusting the interference behavior data of the interfering traffic participant; based on the driving data and the adjusted interference behavior data, controlling the vehicle to be tested to travel in the target continuous road network after the data is adjusted to retest the vehicle to be tested.

[0089] In one embodiment, the interfering behaviors of the traffic participants implemented when the processor executes the computer program include at least one of changing lanes, overtaking, crossing the road, following the test vehicle, or colliding with the test vehicle.

[0090] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: generating a vehicle to be tested in simulation software based on test requirements, and obtaining driving scenes to be tested and multiple road scenes from a scene library; determining the road elements corresponding to each road scene based on the driving scenes to be tested; generating a target continuous road network in the simulation software based on the test requirements, driving data of the vehicle to be tested and the road elements; and controlling the vehicle to be tested to drive in the target continuous road network based on the driving data to test the vehicle to be tested.

[0091] In one embodiment, the road elements implemented when the computer program is executed by the processor include static elements and dynamic elements; the target continuous road network is generated in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements, including: generating a road element information library based on the element information of the road elements, and deleting the element information of the dynamic elements in the road element information library; splicing the multiple road scenes based on the remaining element information in the road element information library to obtain an initial continuous road network; generating the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network.

[0092] In one embodiment, the computer program implemented when executed by the processor generates the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network, including: generating a traffic flow in the initial continuous road network based on the test requirements and the driving data to obtain an intermediate continuous road network; obtaining interference behavior data, and generating at least one interfering traffic participant in the intermediate continuous road network based on the test requirements, the driving data, the traffic flow information of the traffic flow, and the interference behavior data to obtain the target continuous road network.

[0093] In one embodiment, the traffic flow implemented when the computer program is executed by a processor includes multiple traffic participants; the traffic flow information includes the number of traffic participants, the types of traffic participants, the proportion of each type of traffic participants, the speed of each traffic participant, and the location information of each traffic participant in the intermediate continuous road network.

[0094] In one embodiment, after the computer program is executed by a processor and controls the vehicle to be tested to travel in the target continuous road network based on the driving data to test the vehicle to be tested, it also includes: acquiring the test data of the vehicle to be tested; for each interfering traffic participant in the target continuous road network, if the corresponding test data of the interfering traffic participant does not meet the test requirements, adjusting the interference behavior data of the interfering traffic participant; based on the driving data and the adjusted interference behavior data, controlling the vehicle to be tested to travel in the target continuous road network after the data is adjusted to retest the vehicle to be tested.

[0095] In one embodiment, the interference behavior of the traffic participant implemented when the computer program is executed by the processor includes at least one of changing lanes, overtaking, crossing the road, following the test vehicle, or colliding with the test vehicle.

[0096] In one embodiment, a computer program product is provided, including a computer program, which implements the following steps when executed by a processor: generating a vehicle to be tested in simulation software based on test requirements, and obtaining driving scenarios to be tested and multiple road scenarios from a scenario library; determining road elements corresponding to each road scenario based on the driving scenarios to be tested; generating a target continuous road network in the simulation software based on the test requirements, driving data of the vehicle to be tested and the road elements; and controlling the vehicle to be tested to drive in the target continuous road network based on the driving data to test the vehicle to be tested.

[0097] In one embodiment, the road elements implemented when the computer program is executed by the processor include static elements and dynamic elements; the target continuous road network is generated in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements, including: generating a road element information library based on the element information of the road elements, and deleting the element information of the dynamic elements in the road element information library; splicing the multiple road scenes based on the remaining element information in the road element information library to obtain an initial continuous road network; generating the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network.

[0098] In one embodiment, the computer program implemented when executed by the processor generates the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network, including: generating a traffic flow in the initial continuous road network based on the test requirements and the driving data to obtain an intermediate continuous road network; obtaining interference behavior data, and generating at least one interfering traffic participant in the intermediate continuous road network based on the test requirements, the driving data, the traffic flow information of the traffic flow, and the interference behavior data to obtain the target continuous road network.

[0099] In one embodiment, the traffic flow implemented when the computer program is executed by a processor includes multiple traffic participants; the traffic flow information includes the number of traffic participants, the types of traffic participants, the proportion of each type of traffic participants, the speed of each traffic participant, and the location information of each traffic participant in the intermediate continuous road network.

[0100] In one embodiment, after the computer program is executed by a processor and controls the vehicle to be tested to travel in the target continuous road network based on the driving data to test the vehicle to be tested, it also includes: acquiring the test data of the vehicle to be tested; for each interfering traffic participant in the target continuous road network, if the corresponding test data of the interfering traffic participant does not meet the test requirements, adjusting the interference behavior data of the interfering traffic participant; based on the driving data and the adjusted interference behavior data, controlling the vehicle to be tested to travel in the target continuous road network after the data is adjusted to retest the vehicle to be tested.

[0101] In one embodiment, the interference behavior of the traffic participant implemented when the computer program is executed by the processor includes at least one of changing lanes, overtaking, crossing the road, following the test vehicle, or colliding with the test vehicle.

[0102] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0103] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0104] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0105] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle simulation test method, characterized in that: The method comprises: Generate the vehicle to be tested in the simulation software based on the test requirements, and obtain the driving scenarios and various road scenarios to be tested from the scenario library; Based on the driving scene to be tested, determining the road elements corresponding to each road scene; Based on the test requirements, the driving data of the vehicle to be tested and the road elements, generating a target continuous road network in the simulation software; The vehicle to be tested is controlled to travel in the target continuous road network based on the driving data to test the vehicle to be tested.

2. The method according to claim 1, characterized in that The road elements include static elements and dynamic elements; The generating a target continuous road network in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements comprises: Generate a road element information library based on the element information of the road element, and delete the element information of the dynamic element in the road element information library; Based on the remaining element information in the road element information library, the multiple road scenes are spliced ​​to obtain an initial continuous road network; Based on the test requirements, the driving data and the initial continuous road network, the target continuous road network is generated in the simulation software.

3. The method according to claim 2, characterized in that The step of generating the target continuous road network in the simulation software based on the test requirements, the driving data and the initial continuous road network includes: Generate a traffic flow in the initial continuous road network based on the test requirements and the driving data to obtain an intermediate continuous road network; Obtain interference behavior data, and based on the test requirements, the driving data, the traffic flow information of the traffic flow, and the interference behavior data, generate at least one interfering traffic participant in the intermediate continuous road network to obtain the target continuous road network.

4. The method according to claim 3, characterized in that The traffic flow includes multiple traffic participants; the traffic flow information includes the number of traffic participants, the types of traffic participants, the proportion of each type of traffic participants, the speed of each traffic participant, and the location information of each traffic participant in the intermediate continuous road network.

5. The method according to claim 3, characterized in that: After controlling the vehicle to be tested to travel in the target continuous road network based on the driving data to test the vehicle to be tested, the method further includes: Acquiring test data of the vehicle to be tested; For each interfering traffic participant in the target continuous road network, if the corresponding test data of the interfering traffic participant does not meet the test requirements, adjusting the interfering behavior data of the interfering traffic participant; Based on the driving data and the adjusted interference behavior data, the vehicle to be tested is controlled to travel in the target continuous road network after the data is adjusted, so as to retest the vehicle to be tested.

6. The method according to claim 5, characterized in that The interfering behavior that interferes with the traffic participant includes at least one of changing lanes, overtaking, crossing the road, following the test vehicle, or colliding with the test vehicle.

7. A vehicle simulation test device, characterized in that: The device comprises: The first generation module is used to generate a vehicle to be tested in the simulation software based on the test requirements, and obtain the driving scene to be tested and multiple road scenes from the scene library; A determination module, used for determining the road elements corresponding to each road scene based on the driving scene to be tested; A second generating module, configured to generate a target continuous road network in the simulation software based on the test requirements, the driving data of the vehicle to be tested and the road elements; A control module is used to control the vehicle to be tested to travel in the target continuous road network based on the driving data, so as to test the vehicle to be tested.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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