Simulation method, device and equipment based on simulation unmanned vehicle fault processing

Abstract

The invention relates to an analogue simulation method, device and equipment based on simulated unmanned vehicle fault processing. The method comprises the following steps: in response to a first triggering operation input for a simulation starting control, controlling a simulation unmanned vehicle to run in a preset track; simulating that at least one preset fault occurs in the driving process of the simulation unmanned vehicle, and stopping driving when the preset fault occurs; and in response to a second trigger operation input for the fault removal control, performing fault removal processing on the simulation unmanned vehicle in a simulation manner, and controlling the simulation unmanned vehicle to run to a terminal point according to the preset track so as to complete one-time simulation. By adopting the method, the simulation cost of the simulation unmanned vehicle can be reduced.

Description

Technical Field

[0001] The present application relates to the technical field of Internet of Things, and in particular to a simulation method, device and equipment based on simulated unmanned vehicle fault handling. Background Art

[0002] With the rapid development of Internet of Things technology, the warehousing and logistics industry is accelerating towards a high degree of automation and intelligence. In large-scale warehousing environments, efficient and fast warehousing and transportation systems have become a core demand. As a key technology in modern warehousing and transportation, unmanned warehousing vehicles not only significantly improve operating efficiency through automated handling and intelligent path planning, but also effectively reduce labor costs and operational risks.

[0003] However, in actual applications, the cost of simulation equipment for unmanned vehicles is relatively high, which poses a challenge to their promotion and popularization. Summary of the invention

[0004] Based on this, it is necessary to provide a simulation method, device and equipment based on simulated unmanned vehicle fault handling that can reduce the simulation cost of simulated unmanned vehicles in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a simulation method for fault handling based on simulated unmanned vehicle, comprising:

[0006] In response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory;

[0007] Simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and stop driving when the preset fault occurs;

[0008] In response to the second trigger operation input to the fault elimination control, the fault elimination process of the simulated unmanned vehicle is simulated, and the simulated unmanned vehicle is controlled to travel to the end point along a preset trajectory to complete a simulation.

[0009] In one embodiment, the method further comprises:

[0010] After the simulated unmanned vehicle stops driving, a fault mark of a preset fault and a plurality of fault relief controls are displayed, wherein different fault relief controls correspond to different faults;

[0011] Correspondingly, in response to the second trigger operation input to the fault elimination control, simulating the fault elimination process of the simulated unmanned vehicle includes:

[0012] In response to a second trigger operation input to a target fault elimination control among the plurality of fault elimination controls, a target fault corresponding to the target fault elimination control is eliminated for the simulated unmanned vehicle in a simulated manner.

[0013] In one embodiment, the method further comprises:

[0014] When the target fault corresponding to the target fault relief control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory and a record of the fault handling mismatch is made.

[0015] In one embodiment, the method further comprises:

[0016] When the number of records reaches a preset threshold, it is determined that a system failure has occurred in the simulated unmanned vehicle, and the simulated unmanned vehicle is controlled to stop driving.

[0017] In one embodiment, the method further comprises:

[0018] In response to the third trigger operation on the failure release control, the simulated unmanned vehicle is subjected to failure release processing, and based on the third trigger operation, the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0019] In one embodiment, the method further comprises:

[0020] In response to the fourth trigger operation for the non-failure release control, the simulated unmanned vehicle is controlled to stop traveling until the third trigger operation for the failure release control is obtained, and the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0021] In a second aspect, the present application also provides a simulation device based on simulated unmanned vehicle fault handling, comprising:

[0022] A first driving control module, configured to control the simulated unmanned vehicle to travel along a preset trajectory in response to a first trigger operation input to a simulation start control;

[0023] A fault simulation module is used to simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and the vehicle stops driving when a preset fault occurs;

[0024] The second driving control module is used to respond to the second trigger operation input to the fault relief control, simulate the fault relief processing of the simulated unmanned vehicle, and control the simulated unmanned vehicle to travel to the end point along the preset trajectory to complete a simulation.

[0025] In a third aspect, the present application further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0026] In response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory;

[0027] Simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and stop driving when the preset fault occurs;

[0028] In response to the second trigger operation input to the fault elimination control, the fault elimination process of the simulated unmanned vehicle is simulated, and the simulated unmanned vehicle is controlled to travel to the end point along a preset trajectory to complete a simulation.

[0029] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the following steps are implemented:

[0030] In response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory;

[0031] Simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and stop driving when the preset fault occurs;

[0032] In response to the second trigger operation input to the fault elimination control, the fault elimination process of the simulated unmanned vehicle is simulated, and the simulated unmanned vehicle is controlled to travel to the end point along a preset trajectory to complete a simulation.

[0033] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0034] In response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory;

[0035] Simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and stop driving when the preset fault occurs;

[0036] In response to the second trigger operation input to the fault elimination control, the fault elimination process of the simulated unmanned vehicle is simulated, and the simulated unmanned vehicle is controlled to travel to the end point along a preset trajectory to complete a simulation.

[0037] The above-mentioned simulation method, device and equipment based on the simulated unmanned vehicle fault handling, in response to the first trigger operation input to the simulation start control, controls the simulated unmanned vehicle to travel along a preset trajectory; simulates at least one preset fault occurring during the driving process of the simulated unmanned vehicle, and stops driving when the preset fault occurs; in response to the second trigger operation input to the fault removal control, simulates the fault removal processing of the simulated unmanned vehicle, and controls the simulated unmanned vehicle to travel to the end point along the preset trajectory to complete a simulation. In traditional simulations, if various complex and random scenarios and faults are to be simulated, powerful computing hardware is often required to support real-time computing. However, by using preset trajectory driving and limited preset fault simulation methods, the computing performance requirements for the hardware are relatively reduced, which reduces the cost investment in hardware equipment procurement, thereby reducing the simulation cost of the simulated unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] Figure 1 is a diagram of the internal structure of an electronic device in one embodiment;

[0040] Figure 2 A schematic diagram of a flow chart of a simulation method for simulating fault handling of an unmanned vehicle in one embodiment;

[0041] Figure 3 It is a structural block diagram of a simulation device based on simulated unmanned vehicle fault processing in one embodiment. DETAILED DESCRIPTION

[0042] 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.

[0043] In an exemplary embodiment, an electronic device is provided. The electronic device may be a server, and its internal structure diagram may be as shown in FIG. Figure 1As shown. The electronic device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the electronic device is used to store data in the simulation process based on the simulation of unmanned vehicle fault handling. The input / output interface of the electronic device is used to exchange information between the processor and an external device. The communication interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a simulation method based on the simulation of unmanned vehicle fault handling is implemented.

[0044] Those skilled in the art will understand that Figure 1 The structure shown in the figure is merely a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the electronic device to which the scheme of the present application is applied. The specific electronic device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0045] In an exemplary embodiment, Figure 2 As shown in the figure, a simulation method based on the fault handling of simulated unmanned vehicles is provided. Figure 1 The electronic device in the embodiment is taken as an example to illustrate, and the method includes the following steps 201 to 203. Among them:

[0046] Step 201, in response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory.

[0047] Among them, the simulated unmanned vehicle can be a warehouse unmanned vehicle.

[0048] In the embodiment of the present application, the electronic device is first initialized, including loading the simulated unmanned vehicle model, preset trajectory data, various preset fault modes and their related parameters (such as the probability of fault occurrence, the degree of impact of the fault on vehicle performance, etc.). At the same time, the simulation environment is initialized, such as setting the virtual warehouse scene, cargo distribution and other information, which will affect the operation and fault simulation of the simulated unmanned vehicle.

[0049] Next, the simulation start control is initialized to make it function normally and ready to receive trigger operations, for example, defining the specific form of the first trigger operation (such as click, key press, etc.) and its corresponding response logic.

[0050] In some embodiments, if personnel testing is involved, personnel information can be entered and grouped at this stage, such as active processing group, passive auxiliary group, and manual control group. Different groups of personnel will have different operating permissions and tasks in the subsequent fault handling process, and the electronic device needs to record and identify the input of different groups of personnel.

[0051] When the electronic device detects the first trigger operation input for the simulation start control (for example, the user clicks the "Start Simulation" button), the initial driving parameters of the simulated unmanned vehicle, such as speed and direction, are calculated based on the preset trajectory data. Then, through graphics rendering or animation generation technology, the simulated unmanned vehicle is displayed in the virtual scene to start driving along the preset trajectory. During the driving process, the electronic device updates the location, status and other information of the simulated unmanned vehicle in real time and displays it on the interface, such as the real-time coordinates of the vehicle, driving speed, and distance traveled. At the same time, other elements in the virtual scene (such as warehouse shelves, goods, etc.) can also be displayed to provide more realistic visual feedback.

[0052] In some embodiments, the predetermined trajectory equation of the simulated unmanned vehicle may be formula (1) to formula (4):

[0053] (1)

[0054] (2)

[0055] (3)

[0056] (4)

[0057] in, Indicates the position of the simulated unmanned vehicle, coordinate point Initialize the position of the simulated unmanned vehicle, indicating the current time in seconds, v indicating the speed of the simulated unmanned vehicle in m / s, and the coordinates It is a fixed value, indicating the farthest position that the simulated unmanned vehicle can run.

[0058] Assuming that the speed is constant and time is the independent variable, a period of time is recorded as At this moment, the current coordinate position is calculated according to the trajectory formula The simulated unmanned vehicle is drawn on the screen through electronic equipment to show the vehicle The position of the simulated unmanned vehicle at different moments is drawn cyclically to realize the trajectory animation of the simulated unmanned vehicle moving at speed v over time.

[0059] Step 202, simulating the occurrence of at least one preset fault in the unmanned vehicle during driving, and stopping driving when the preset fault occurs.

[0060] In the embodiment of the present application, during the simulation of the unmanned vehicle driving, the electronic device randomly determines whether to trigger a preset fault according to the preset fault simulation logic and probability parameters. For example, after each certain time interval (such as 1 minute), a random number is calculated and compared with the preset fault occurrence probability. If the random number is less than the preset probability, a fault (such as motor fault, sensor fault, communication fault, etc.) is selected from the preset fault list for simulation.

[0061] When it is determined that a preset fault is triggered, the electronic equipment adjusts the operating status of the simulated unmanned vehicle according to the fault type and parameters, so that it exhibits corresponding fault characteristics, such as reduced speed, deviation from the driving direction, failure of some functions, etc., and displays fault prompt information (such as fault type, possible impact, etc.) on the interface, and stops the driving of the simulated unmanned vehicle at the same time, waiting for further processing.

[0062] Step 203, in response to the second trigger operation input to the fault relief control, simulate the fault relief processing of the simulated unmanned vehicle, and control the simulated unmanned vehicle to travel to the end point along the preset trajectory to complete a simulation.

[0063] In the embodiment of the present application, when the simulated unmanned vehicle encounters a preset fault and stops driving, it waits for the operator to input a second trigger operation for the fault removal control (for example, clicking a "fault removal" button or executing a specific repair operation instruction). The electronic device monitors the input status of the control in real time, and when a valid input is detected, it starts to execute the fault removal process.

[0064] According to the preset fault elimination logic, the electronic device simulates the fault elimination process of the simulated unmanned vehicle. The fault elimination process may include performing a series of virtual repair operations, such as restarting the system, adjusting parameters, replacing virtual components, etc. The specific operations depend on the fault type and the simulated repair strategy.

[0065] After completing the fault removal simulation, the electronic equipment verifies the status of the simulated unmanned vehicle to check whether it has been successfully restored to a normal driving state. For example, it checks whether key system parameters have returned to the normal range and whether the vehicle functions normally. If the verification passes, the simulated unmanned vehicle is allowed to continue driving; if the verification fails, the operator is prompted that the fault removal has failed and needs to try again or take other measures.

[0066] When the simulated unmanned vehicle passes the fault elimination verification, the electronic device calculates the remaining driving path and parameters from the current position to the destination based on the preset trajectory data. Then, the simulated unmanned vehicle continues to be controlled to drive along the preset trajectory, while continuing to monitor the vehicle status in real time to ensure that it can reach the destination smoothly. During the driving process, various operating information and virtual scenes of the vehicle can still be displayed until the simulated unmanned vehicle reaches the destination, completing a complete simulation process.

[0067] In some embodiments, during the entire simulation process, the electronic device records a large amount of relevant data, including the initial parameters of the simulated unmanned vehicle, driving trajectory, speed change, fault occurrence time, fault type, fault processing time, processing results (success or failure), etc. These data can be stored in a local file or database for subsequent analysis and evaluation.

[0068] After completing a simulation, the electronic device can analyze the recorded data and generate various statistical information and reports. For example, it can calculate the average fault interval, the frequency of occurrence of different fault types, the average time for fault handling, and the overall operating efficiency of the simulated unmanned vehicle. These analysis results can help evaluate the performance of the simulated unmanned vehicle and test the effectiveness of the fault handling strategy, providing valuable reference for further optimizing the design of the unmanned vehicle, improving the control algorithm, and improving the fault handling process.

[0069] In the above-mentioned simulation method based on the fault handling of simulated unmanned vehicles, in response to the first trigger operation input to the simulation start control, the simulated unmanned vehicle is controlled to travel along a preset trajectory; the simulated unmanned vehicle is simulated to have at least one preset fault during driving, and stops driving when the preset fault occurs; in response to the second trigger operation input to the fault removal control, the simulated unmanned vehicle is simulated to perform fault removal processing, and the simulated unmanned vehicle is controlled to travel to the end point along the preset trajectory to complete a simulation. In traditional simulations, if various complex and random scenarios and faults are to be simulated, powerful computing hardware is often required to support real-time computing. However, by using preset trajectory driving and limited preset fault simulation methods, the computing performance requirements for the hardware are relatively reduced, which reduces the cost investment in hardware equipment procurement, thereby reducing the simulation cost of simulated unmanned vehicles.

[0070] In an exemplary embodiment, the method further comprises:

[0071] After the simulated unmanned vehicle stops driving, a fault mark of a preset fault and a plurality of fault relief controls are displayed, wherein different fault relief controls correspond to different faults;

[0072] Correspondingly, in response to the second trigger operation input to the fault elimination control, simulating the fault elimination process of the simulated unmanned vehicle includes:

[0073] In response to a second trigger operation input to a target fault elimination control among the plurality of fault elimination controls, a target fault corresponding to the target fault elimination control is eliminated for the simulated unmanned vehicle in a simulated manner.

[0074] In an embodiment of the present application, when the simulated unmanned vehicle stops driving due to a preset fault, the electronic device first selects or generates a corresponding fault identifier from a predefined fault identifier library according to the type of fault that occurred. The fault identifier should be able to intuitively convey key information such as the type and severity of the fault to the user, for example, in the form of an icon of a specific color, a flashing warning light, or a text description. Then, the fault identifier is displayed in a prominent position on the simulation interface so that the user can notice it at the first time.

[0075] The electronic device determines multiple possible troubleshooting methods related to the currently occurring preset fault, and generates corresponding troubleshooting controls for each method. Among them, the troubleshooting controls can be in various forms, such as buttons, menu options, or virtual joysticks, etc., to adapt to different operating requirements and user habits. These troubleshooting controls are arranged on the simulation interface in a certain logical order or layout, such as being displayed near the fault logo, or arranged in different areas according to the fault type. At the same time, add clear text descriptions or icon prompts to each troubleshooting control, indicating its corresponding troubleshooting operation, so that users can understand and choose easily.

[0076] The electronic device continuously monitors the input status of all fault relief controls and waits for the user to operate one of the controls. This process is similar to monitoring the simulation startup control in the above embodiment, and the user's triggering operation on the fault relief control is captured by monitoring the input events of the operating system or application, such as mouse clicks, keyboard keys, touch operations, etc.

[0077] When a second trigger operation for a certain fault relief control is detected, the electronic device determines that the fault relief control is a target fault relief control. Through the unique identifier, location information or other predefined identification methods of the target fault relief control, the control corresponding to the fault relief operation selected by the user is accurately identified, thereby clarifying the target fault that the user intends to relieve.

[0078] According to the target fault corresponding to the target fault relief control, the electronic device calls the corresponding fault relief simulation program or algorithm. Among them, the simulation program is built based on the understanding and modeling of the real fault handling process. It contains a series of virtual operations and state changes to simulate how to repair the fault in actual situations. For example, if the target fault is motor overheating, the simulation program may include operations such as reducing the motor load, starting the cooling system (adjusting relevant parameters in a virtual environment), and checking the motor temperature sensor data until the motor temperature returns to the normal range.

[0079] During the simulated fault removal process, the electronic device updates the status information of the simulated unmanned vehicle in real time to reflect the progress of the fault repair. For example, as the simulated repair operation proceeds, the vehicle's functions affected by the fault are gradually restored, such as restarting the motor (if applicable) and restoring normal display of sensor data. At the same time, feedback information is provided on the simulation interface to inform the user of the progress of the fault removal process, such as displaying text descriptions of the repair steps, progress bars, or animation effects.

[0080] When the simulated fault removal process is completed, the electronic device will conduct a comprehensive verification of the state of the simulated unmanned vehicle to ensure that the target fault has been successfully removed. For example, it involves checking whether the key parameters of each system of the simulated unmanned vehicle have returned to normal, such as the output power of the power system, the measurement accuracy of the sensor, the response performance of the control system, etc. If the verification is successful, it means that the simulated unmanned vehicle has returned to a normal driving state and is ready to enter the subsequent driving process; if the verification fails, the electronic device will take corresponding measures according to the preset rules, such as prompting the user the reason for the failure of the fault removal, providing further fault diagnosis suggestions, or redisplaying the fault removal controls, allowing the user to try other fault removal methods again.

[0081] Through the above embodiments, the electronic device can effectively respond to the user's fault-solving operation after the simulated unmanned vehicle breaks down and stops, simulating the actual fault handling process, thereby providing a more realistic and reliable simulation experience, while also providing important data and practical basis for the optimization and improvement of the unmanned vehicle system.

[0082] In an exemplary embodiment, the method further comprises:

[0083] When the target fault corresponding to the target fault relief control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory and a record of the fault handling mismatch is made.

[0084] In the embodiment of the present application, after receiving the second trigger operation for the target fault relief control, the electronic device compares the target fault associated with the selected target fault relief control with the preset fault that actually occurred. The comparison process may involve comparing multiple information such as the fault type, fault code (if any), and fault characteristics to determine whether the two match. For example, if the preset fault is "navigation system signal loss" and the target fault relief control corresponds to "motor drive fault", it is obviously not a match.

[0085] When a fault is found to be inconsistent, the electronic device pops up a striking error prompt message on the simulation interface. The prompt message should clearly inform the user that the selected fault resolution operation does not match the current actual fault, such as displaying "The selected fault resolution method is not applicable to the current fault, please reselect". At the same time, sound prompts (such as short alarm sounds) or visual effects (such as flashing borders) can be used to enhance the prompt effect to ensure that the user can notice the error in time.

[0086] Although the target fault resolution operation is incorrect, the electronic equipment still needs to keep the simulated unmanned vehicle in its current stopped state before further processing to prevent unexpected situations caused by incorrect operations. If the vehicle continues to drive without actually resolving the fault, it may cause a more serious virtual accident or data confusion.

[0087] In order to record the situation where the fault handling does not correspond to this time, the electronic device initializes a record data structure. This structure will contain key information related to this event, such as simulation time, preset fault type, incorrectly selected target fault relief control information, vehicle current status (position, speed, etc.), etc., to prepare for subsequent detailed records. At the same time, the specific type and characteristics of the preset fault, as well as the target fault information corresponding to the incorrectly selected target fault relief control, are recorded in detail to clearly understand the specific situation of the error. For example, record "at the simulation time" specific time, the preset fault is "detailed fault description", and the target fault corresponding to the incorrectly selected target fault relief control is "incorrect fault description".

[0088] Record the vehicle status information of the simulated unmanned vehicle when a fault occurs and when an incorrect fault resolution operation is attempted, including the vehicle's position coordinates, speed value, driving direction, and key parameters of each system in the simulated unmanned vehicle (such as battery power, sensor data, etc.).

[0089] If certain factors in the simulation environment may have an impact on fault handling, such as changes in the distribution of goods in the warehouse, the operating status of other equipment, etc., the electronic equipment can also selectively record this environmental information.

[0090] After completing the detailed record, the electronic device decides whether to allow the simulated unmanned vehicle to continue driving along the preset trajectory according to the preset rules. If the current fault is considered not to have a serious impact on the vehicle's continued driving (such as a fault prompt error of some non-critical system), or if the subsequent simulation process needs to be continued after recording the error information to test other functions, the electronic device will control the simulated unmanned vehicle to restart and continue driving along the preset trajectory. During driving, continue to monitor the vehicle status to ensure that there are no potential problems caused by incorrect operations.

[0091] In some embodiments, the electronic device can store the recorded data that does not correspond to the current fault handling in a local file or database for subsequent detailed analysis. By counting and analyzing a series of similar error records, common error patterns of users in the fault handling process can be found, thereby providing a basis for improving the user interface design of the simulation system, providing more accurate fault diagnosis prompts, or optimizing personnel training content. For example, if it is found that a certain fault relief control is often mistakenly selected for a specific fault, it may mean that the prompt information of the fault is not clear enough or the layout of the fault relief control is easy to cause confusion, and corresponding improvements are needed. In addition, after completing the entire simulation process, a report containing detailed information of the event that does not correspond to this fault handling can be generated and provided to relevant personnel as part of the simulation results so that they can fully understand the problems and situations that occurred during the simulation process.

[0092] Through the above embodiments, the electronic device can properly handle the situation where the target fault relief control does not correspond to the preset fault, which not only ensures the normal progress of the simulation, but also provides valuable data and feedback for the optimization of fault handling.

[0093] In an exemplary embodiment, the method further comprises:

[0094] When the number of records reaches a preset threshold, it is determined that a system failure has occurred in the simulated unmanned vehicle, and the simulated unmanned vehicle is controlled to stop driving.

[0095] The preset threshold is a value set before the simulation starts according to the system design requirements and test objectives, and is used to measure the severity of the fault handling mismatch.

[0096] In the embodiment of the present application, the electronic device always tracks the number of records of the fault handling non-corresponding situation during the entire simulation process. Whenever a fault handling non-corresponding event occurs and is recorded, the corresponding record number variable is updated and added by 1.

[0097] Periodically (e.g., after each record update or at a certain time interval), the electronic device compares the current number of records with the preset threshold. If the current number of records is equal to or exceeds the preset threshold, the electronic device will trigger the subsequent process of determining the system failure accident; if the number of records does not reach the threshold, normal simulation monitoring and recording work will continue.

[0098] When the number of records reaches the preset threshold, the electronic device determines the system failure accident not only based on the number of records itself, but also comprehensively considers other relevant factors. For example, analyze the specific types and distribution of previously recorded fault handling events that do not correspond to the event, and determine whether a certain type of fault is frequently handled incorrectly, or whether multiple different types of error handling occur continuously in a short period of time. These situations may indicate that there are more serious problems with the system. In addition, the actual operating status changes of the simulated unmanned vehicle after the previous error handling can also be checked, such as whether the vehicle performance has been significantly reduced, whether abnormal behavior occurs (such as frequent deviations from the preset trajectory, excessive speed fluctuations, etc.). If these abnormal conditions exist, they further support the determination of system failure accidents.

[0099] Based on the above comprehensive evaluation, if the electronic device determines that the simulated unmanned vehicle has a system failure, it will set the corresponding flag in the internal status mark to indicate that the system is in a failure state. At the same time, a detailed system failure report can be generated to record the key information that led to the accident, including the number of records that reached the threshold, the specific circumstances of the last few error handling, the current abnormal state of the vehicle, etc., for subsequent analysis and debugging.

[0100] After determining the system failure accident, the electronic device initiates the safe stop strategy to control the simulated unmanned vehicle to stop. First, a stop command is sent to the virtual control system of the simulated unmanned vehicle to gradually decelerate the vehicle to avoid sudden stopping and causing damage to the virtual cargo or other unexpected situations. During the deceleration process, the speed and position of the vehicle are continuously monitored to ensure that it stops smoothly. If the vehicle encounters special circumstances during the stopping process (such as approaching an obstacle), the electronic device can take additional control measures, such as adjusting the steering angle of the vehicle to make it avoid the obstacle before stopping.

[0101] After the simulated unmanned vehicle comes to a complete stop, the electronic device records the final stopping position of the vehicle, the time when the speed reaches zero, and other relevant final state information. The final state information will be recorded in detail as part of the system failure accident. At the same time, a clear system failure prompt message is displayed to the user on the simulation interface, informing the user that the simulation has stopped due to a system failure accident. It may include a brief description of the cause of the accident (based on the previously generated system failure report) and suggestions for the next step (such as checking the simulation settings, restarting the simulation, etc.), so that the user can understand the situation and take appropriate measures.

[0102] All data related to system failure accidents during this simulation, including records of non-corresponding fault handling, vehicle operation data, system status change data, etc., are stored in local files or databases. These data will provide rich materials for subsequent in-depth analysis of the causes of system failures. The data can be preliminarily sorted and classified to facilitate subsequent statistical analysis and troubleshooting. For example, data can be arranged in chronological order, and different types of non-corresponding fault handling events can be grouped.

[0103] Through the above embodiments, the electronic device can accurately monitor the number of fault processing non-corresponding records, reasonably determine system failure accidents, and safely control the simulated unmanned vehicle to stop driving, laying the foundation for subsequent analysis, processing and improvement work.

[0104] In an exemplary embodiment, the method further comprises:

[0105] In response to the third trigger operation on the failure release control, the simulated unmanned vehicle is subjected to failure release processing, and based on the third trigger operation, the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0106] In the embodiment of the present application, the electronic device continuously monitors the input status of the failure relief control, similar to the previous monitoring of the simulation startup control and the fault relief control, by monitoring the input events of the operating system or application program. For example, the mouse click event, keyboard key event, touch operation (if applicable), etc. are detected to determine whether the user has operated the failure relief control.

[0107] When an operation on the failure relief control that complies with the predefined triggering mode is detected, it is confirmed as the third triggering operation.

[0108] According to the type and preset function of the failure relief control, the electronic device calls the corresponding failure relief simulation program. Among them, the failure relief simulation program is designed based on the understanding and handling strategy of the system failure situation, and contains a series of operations and state adjustment steps. For example, if the system failure is caused by a software error, the failure relief program may include operations such as reinitializing related software modules, checking and repairing data errors, and resetting system state variables; if it is a hardware simulation failure (such as overheating of a virtual hardware component), it may involve simulating the cooling process, checking the hardware status, and restoring normal working parameters.

[0109] During the fault relief simulation, the electronic device updates the system status information of the simulated unmanned vehicle in real time to reflect the progress of the fault relief. For example, the system functions affected by the fault are gradually restored, such as reactivating sensors, restoring communication links, and adjusting vehicle control parameters to normal ranges. At the same time, feedback information is provided on the simulation interface to inform the user of the progress of the fault relief process, such as text descriptions of the processing steps, progress bar animations, status indicator light changes, etc., so that the user can understand that the system is returning to normal.

[0110] When the failure relief processing simulation is completed, the electronic equipment calculates the initial parameters for the vehicle to resume driving based on the current state of the simulated unmanned vehicle and the preset trajectory. This includes determining the initial position of the vehicle (which may be the position when it stops or the position adjusted according to the situation after the failure is relieved), the initial speed (usually recovering from rest, the speed is set to zero or a suitable starting speed is set according to the scene requirements), the initial direction (determined according to the preset trajectory and the current posture of the vehicle), etc. At the same time, check and ensure that the key systems of the vehicle (such as the power system, steering system, control system, etc.) are ready for normal operation to avoid driving abnormalities due to residual problems.

[0111] Using the calculated recovery driving parameters, the electronic device starts driving control of the simulated unmanned vehicle, allowing it to continue driving along the preset trajectory. During driving, the position and status of the vehicle are continuously tracked, and the vehicle's speed, direction and other motion parameters are continuously adjusted according to the preset trajectory and real-time conditions (such as encountering obstacles, receiving new control instructions, etc.) to ensure that the vehicle accurately drives along the preset trajectory. At the same time, the system status of the vehicle continues to be monitored to prevent failures or malfunctions from occurring again, and to ensure the stability and reliability of the simulation.

[0112] The electronic device records the relevant information of this failure relief event, including the time of the third trigger operation, the type of failure relief control, the key steps and state changes in the failure relief process, etc. These records can be stored in local files or databases and integrated with previous simulation data (such as fault handling records, vehicle operation data, etc.) to provide comprehensive data support for subsequent analysis and evaluation. For example, by analyzing the frequency of failure relief events, the effectiveness of different types of failure relief methods, etc., potential weak links in the system can be discovered, providing a basis for further optimizing system design and improving system stability.

[0113] In an exemplary embodiment, the method further comprises:

[0114] In response to the fourth trigger operation for the non-failure release control, the simulated unmanned vehicle is controlled to stop traveling until the third trigger operation for the failure release control is obtained, and the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0115] The fourth trigger operation is a trigger instruction that complies with a predefined trigger method, such as clicking a specific button, pressing a specific shortcut key, etc.

[0116] In the embodiment of the present application, the electronic device continuously monitors the input status of all controls in the simulation interface. When a fourth trigger operation for a non-failure release control is detected, the operation is identified and determined.

[0117] When the fourth trigger operation for the non-failure release control is identified, the electronic device sends a stop driving command to the control system of the simulated unmanned vehicle. The stop driving command will cause the vehicle's power system to stop outputting power and the wheels to stop rotating, while keeping the vehicle's current position and posture unchanged. During the stopping process, the electronic device continues to monitor the state of the simulated unmanned vehicle to ensure that the simulated unmanned vehicle stops smoothly and avoids virtual collisions or other abnormal situations due to sudden stops (such as cargo falling, etc., if there are such elements in the simulation scene).

[0118] After the simulated unmanned vehicle stops driving, the electronic device enters a waiting state and continuously monitors the input of the failure release control. This process is similar to the monitoring of various control trigger operations in the above embodiment, but at this time the focus is on the triggering of the failure release control. The electronic device keeps monitoring the input events of the operating system or application program, and is ready to receive the third trigger operation for the failure release control.

[0119] When the third trigger operation for the failure relief control is detected, the failure relief processing flow described above is followed, which may include calling the corresponding failure relief simulation program, updating the system status information, providing feedback display on the simulation interface, etc., to ensure that the system recovers from the failure state or simulates the process of recovery.

[0120] After completing the failure relief simulation process, the electronic device calculates the initial parameters for the vehicle to resume driving, such as position, speed, direction, etc., based on the current state of the simulated unmanned vehicle and the preset trajectory, similar to the steps of calculating the resumption of driving parameters in the previous response to the third trigger operation for the failure relief control. At the same time, the various systems of the vehicle are checked and prepared to ensure that it can resume driving safely and stably.

[0121] Using the calculated recovery driving parameters, the electronic device sends a start driving command to the simulated unmanned vehicle, allowing the vehicle to continue driving along the preset trajectory. During the driving process, the position and status of the vehicle are tracked in real time, and the vehicle's motion parameters are adjusted according to the preset trajectory and actual conditions (such as encountering obstacles, receiving new control instructions, etc.) to ensure that the vehicle moves accurately along the preset trajectory.

[0122] If some background operations are suspended while waiting for the failure relief control to be triggered, the electronic device resumes these operations to ensure the integrity and continuity of the simulation. For example, restart the calculation of the dynamic changes in the vehicle's surrounding environment, update the relevant elements in the virtual scene (such as the operating status of other equipment, the movement of goods, etc., if applicable), so that the simulation environment is consistent with the driving status of the vehicle, and provide a more realistic simulation experience.

[0123] Through the above embodiments, the electronic device can correctly respond to the fourth trigger operation for the non-failure release control, causing the simulated unmanned vehicle to stop driving and wait for the right time (after obtaining the third trigger operation for the failure release control), and then control the simulated unmanned vehicle to continue driving along the preset trajectory, ensuring the accuracy and stability of the simulation process under various operations.

[0124] It should be understood that, although the steps in the flowcharts involved in the above 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 embodiments may 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.

[0125] Based on the same inventive concept, the embodiment of the present application also provides a simulation device based on simulated unmanned vehicle fault processing for implementing the simulation method based on simulated unmanned vehicle fault processing 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 embodiments of the simulation device based on simulated unmanned vehicle fault processing provided below can refer to the limitations of the simulation method based on simulated unmanned vehicle fault processing above, and will not be repeated here.

[0126] In an exemplary embodiment, Figure 3 As shown, a simulation device based on the simulation of unmanned vehicle fault processing is provided, comprising: a first driving control module 301, a fault simulation module 302 and a second driving control module 303, wherein:

[0127] The first driving control module 301 is used to control the simulated unmanned vehicle to drive along a preset trajectory in response to a first trigger operation input to the simulation start control;

[0128] The fault simulation module 302 is used to simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and stops driving when the preset fault occurs;

[0129] The second driving control module 303 is used to respond to the second trigger operation input to the fault relief control, simulate the fault relief processing of the simulated unmanned vehicle, and control the simulated unmanned vehicle to travel to the end point along the preset trajectory to complete a simulation.

[0130] According to some embodiments of the present application, the device further includes:

[0131] The display module 304 is used to display the fault identification of the preset fault and a plurality of fault elimination controls after the simulated unmanned vehicle stops driving, wherein different fault elimination controls correspond to different faults;

[0132] Correspondingly, in response to the second trigger operation input to the fault elimination control, simulating the fault elimination process of the simulated unmanned vehicle includes:

[0133] In response to a second trigger operation input to a target fault elimination control among the plurality of fault elimination controls, a target fault corresponding to the target fault elimination control is eliminated for the simulated unmanned vehicle in a simulated manner.

[0134] According to some embodiments of the present application, the device further includes:

[0135] The recording module 305 is used to control the simulated unmanned vehicle to continue driving along the preset trajectory and record the fault handling mismatch when the target fault corresponding to the target fault relief control does not correspond to the preset fault.

[0136] According to some embodiments of the present application, the device further includes:

[0137] The determination module 306 is used to determine that a system failure accident has occurred in the simulated unmanned vehicle when the number of records reaches a preset threshold, and control the simulated unmanned vehicle to stop driving.

[0138] According to some embodiments of the present application, the device further includes:

[0139] The processing module 307 is used to respond to the third trigger operation on the failure relief control, perform failure relief processing on the simulated unmanned vehicle, and control the simulated unmanned vehicle to continue traveling along a preset trajectory based on the third trigger operation.

[0140] According to some embodiments of the present application, the device further includes:

[0141] The third driving control module 308 is used to control the simulated unmanned vehicle to stop driving in response to the fourth trigger operation for the non-failure release control, until the third trigger operation for the failure release control is obtained, and the simulated unmanned vehicle is controlled to continue driving along a preset trajectory.

[0142] Each module in the above-mentioned simulation device based on simulated unmanned vehicle fault handling can be implemented in whole or in part by software, hardware and their combination. The above-mentioned modules can be embedded in or independent of the processor in the electronic device in the form of hardware, or can be stored in the memory of the electronic device in the form of software, so that the processor can call and execute the corresponding operations of each of the above modules.

[0143] In an exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0144] In response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory;

[0145] Simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and stop driving when the preset fault occurs;

[0146] In response to the second trigger operation input to the fault elimination control, the fault elimination process of the simulated unmanned vehicle is simulated, and the simulated unmanned vehicle is controlled to travel to the end point along a preset trajectory to complete a simulation.

[0147] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0148] After the simulated unmanned vehicle stops driving, a fault mark of a preset fault and a plurality of fault relief controls are displayed, wherein different fault relief controls correspond to different faults;

[0149] Correspondingly, in response to the second trigger operation input to the fault elimination control, simulating the fault elimination process of the simulated unmanned vehicle includes:

[0150] In response to a second trigger operation input to a target fault elimination control among the plurality of fault elimination controls, a target fault corresponding to the target fault elimination control is eliminated for the simulated unmanned vehicle in a simulated manner.

[0151] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0152] When the target fault corresponding to the target fault relief control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory and a record of the fault handling mismatch is made.

[0153] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0154] When the number of records reaches a preset threshold, it is determined that a system failure has occurred in the simulated unmanned vehicle, and the simulated unmanned vehicle is controlled to stop driving.

[0155] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0156] In response to the third trigger operation on the failure release control, the simulated unmanned vehicle is subjected to failure release processing, and based on the third trigger operation, the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0157] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0158] In response to the fourth trigger operation for the non-failure release control, the simulated unmanned vehicle is controlled to stop traveling until the third trigger operation for the failure release control is obtained, and the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0159] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0160] In response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory;

[0161] Simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and stop driving when the preset fault occurs;

[0162] In response to the second trigger operation input to the fault elimination control, the fault elimination process of the simulated unmanned vehicle is simulated, and the simulated unmanned vehicle is controlled to travel to the end point along a preset trajectory to complete a simulation.

[0163] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0164] After the simulated unmanned vehicle stops driving, a fault mark of a preset fault and a plurality of fault relief controls are displayed, wherein different fault relief controls correspond to different faults;

[0165] Correspondingly, in response to the second trigger operation input to the fault elimination control, simulating the fault elimination process of the simulated unmanned vehicle includes:

[0166] In response to a second trigger operation input to a target fault elimination control among the plurality of fault elimination controls, a target fault corresponding to the target fault elimination control is eliminated for the simulated unmanned vehicle in a simulated manner.

[0167] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0168] When the target fault corresponding to the target fault relief control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory and a record of the fault handling mismatch is made.

[0169] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0170] When the number of records reaches a preset threshold, it is determined that a system failure has occurred in the simulated unmanned vehicle, and the simulated unmanned vehicle is controlled to stop driving.

[0171] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0172] In response to the third trigger operation on the failure release control, the simulated unmanned vehicle is subjected to failure release processing, and based on the third trigger operation, the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0173] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0174] In response to the fourth trigger operation for the non-failure release control, the simulated unmanned vehicle is controlled to stop traveling until the third trigger operation for the failure release control is obtained, and the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0175] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0176] In response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory;

[0177] Simulate that at least one preset fault occurs during the driving of the unmanned vehicle, and stop driving when the preset fault occurs;

[0178] In response to the second trigger operation input to the fault elimination control, the fault elimination process of the simulated unmanned vehicle is simulated, and the simulated unmanned vehicle is controlled to travel to the end point along a preset trajectory to complete a simulation.

[0179] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0180] After the simulated unmanned vehicle stops driving, a fault mark of a preset fault and a plurality of fault relief controls are displayed, wherein different fault relief controls correspond to different faults;

[0181] Correspondingly, in response to the second trigger operation input to the fault elimination control, simulating the fault elimination process of the simulated unmanned vehicle includes:

[0182] In response to a second trigger operation input to a target fault elimination control among the plurality of fault elimination controls, a target fault corresponding to the target fault elimination control is eliminated for the simulated unmanned vehicle in a simulated manner.

[0183] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0184] When the target fault corresponding to the target fault relief control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory and a record of the fault handling mismatch is made.

[0185] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0186] When the number of records reaches a preset threshold, it is determined that a system failure has occurred in the simulated unmanned vehicle, and the simulated unmanned vehicle is controlled to stop driving.

[0187] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0188] In response to the third trigger operation on the failure release control, the simulated unmanned vehicle is subjected to failure release processing, and based on the third trigger operation, the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0189] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0190] In response to the fourth trigger operation for the non-failure release control, the simulated unmanned vehicle is controlled to stop traveling until the third trigger operation for the failure release control is obtained, and the simulated unmanned vehicle is controlled to continue traveling along a preset trajectory.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] 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 simulation method based on simulated unmanned vehicle fault handling, characterized in that: The method comprises: In response to a first trigger operation input to a simulation start control, controlling the simulated unmanned vehicle to travel along a preset trajectory; Simulating at least one preset fault occurring during the driving of the simulated unmanned vehicle, and stopping the driving when the preset fault occurs; In response to a second trigger operation input to a fault relief control, a fault relief process is simulated for the simulated unmanned vehicle, and the simulated unmanned vehicle is controlled to travel to an end point along the preset trajectory to complete a simulation.

2. The method according to claim 1, characterized in that The method further comprises: After the simulated unmanned vehicle stops driving, a fault indicator of the preset fault and a plurality of fault relief controls are displayed, wherein different fault relief controls correspond to different faults; Correspondingly, in response to the second trigger operation input to the fault elimination control, simulating the fault elimination process for the simulated unmanned vehicle includes: In response to a second trigger operation input to a target fault elimination control among the plurality of fault elimination controls, the simulated unmanned vehicle is simulated to eliminate a target fault corresponding to the target fault elimination control.

3. The method according to claim 2, characterized in that The method further comprises: When the target fault corresponding to the target fault relief control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue traveling along the preset trajectory, and a record of the fault handling not corresponding is made.

4. The method according to claim 3, characterized in that The method further comprises: When the number of records reaches a preset threshold, it is determined that a system failure accident has occurred in the simulated unmanned vehicle, and the simulated unmanned vehicle is controlled to stop traveling.

5. The method according to claim 4, characterized in that The method further comprises: In response to a third trigger operation on a failure relief control, the simulated unmanned vehicle is subjected to failure relief processing, and based on the third trigger operation, the simulated unmanned vehicle is controlled to continue traveling along the preset trajectory.

6. The method according to claim 5, characterized in that The method further comprises: In response to the fourth trigger operation for the non-failure release control, the simulated unmanned vehicle is controlled to stop traveling until the third trigger operation for the failure release control is obtained, and the simulated unmanned vehicle is controlled to continue traveling along the preset trajectory.

7. A simulation device based on simulated unmanned vehicle fault handling, characterized in that: The device comprises: A first driving control module, configured to control the simulated unmanned vehicle to travel along a preset trajectory in response to a first trigger operation input to a simulation start control; A fault simulation module, used to simulate that at least one preset fault occurs during the driving of the simulated unmanned vehicle, and stops driving when the preset fault occurs; The second driving control module is used to respond to a second trigger operation input to the fault relief control, simulate the fault relief processing of the simulated unmanned vehicle, and control the simulated unmanned vehicle to travel to the end point along the preset trajectory to complete a simulation.

8. An electronic 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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