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

Abstract

The application relates to a simulation method, device and equipment based on simulation unmanned vehicle fault processing. The method comprises the following steps: in response to a first trigger operation input for a simulation starting control, controlling a simulation unmanned vehicle to travel at a preset track; simulating that at least one preset fault occurs to the simulation unmanned vehicle during the traveling process, and stopping the traveling when the preset fault occurs; in response to a second trigger operation input for a fault removal control, simulating fault removal processing on the simulation unmanned vehicle, and controlling the simulation unmanned vehicle to travel to an end point according to the preset track to complete one simulation. The method can reduce the simulation cost of the simulation unmanned vehicle.

Description

Technical Field

[0001] This application relates to the field of Internet of Things (IoT) technology, and in particular to a simulation method, apparatus, and device for handling faults in unmanned vehicles based on simulation. Background Technology

[0002] With the rapid development of IoT technology, the warehousing and logistics industry is accelerating its move towards high automation and intelligence. In large-scale warehousing environments, efficient and fast warehousing and transportation systems have become a core requirement. Unmanned warehouse vehicles, as a key technology in modern warehousing and transportation, significantly improve operational efficiency and effectively reduce labor costs and operational risks through automated handling and intelligent route planning.

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

[0004] Therefore, it is necessary to provide a simulation method, apparatus, and equipment for handling faults in simulated unmanned vehicles that can reduce the simulation cost of unmanned vehicles, in order to address the above-mentioned technical problems.

[0005] Firstly, this application provides a simulation method for handling faults in unmanned vehicles based on simulation, including:

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

[0007] The simulation demonstrates that the driverless vehicle will experience at least one preset fault during operation and will stop driving when the preset fault occurs.

[0008] In response to the second trigger operation input to the fault clearing control, the system simulates fault clearing of the simulated unmanned vehicle and controls the simulated unmanned vehicle to travel to the destination along a preset trajectory to complete a simulation.

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

[0010] After the simulated driverless vehicle stops and starts moving, a fault icon for a preset fault and multiple fault clearance controls are displayed. Different fault clearance controls correspond to different faults.

[0011] Correspondingly, in response to a second trigger operation input to the fault clearing control, a fault clearing process is simulated for the simulated unmanned vehicle, including:

[0012] In response to a second trigger operation inputting to the target fault clearing control among multiple fault clearing controls, the target fault corresponding to the target fault clearing control of the simulated unmanned vehicle is simulated.

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

[0014] If the target fault corresponding to the target fault resolution control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory, and the fault handling does not correspond to the preset fault.

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

[0016] If the number of recorded occurrences reaches a preset threshold, it is determined that the simulated unmanned vehicle has experienced a system failure, and the simulated unmanned vehicle is controlled to stop driving.

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

[0018] In response to the third trigger operation for the failure cancellation control, the simulated unmanned vehicle is processed to cancel the failure, and the simulated unmanned vehicle is controlled to continue driving on a preset trajectory based on the third trigger operation.

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

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

[0021] Secondly, this application also provides a simulation device for handling faults in unmanned vehicles, comprising:

[0022] The first driving control module is used to respond to the first trigger operation input to the simulation start control and control the simulated unmanned vehicle to drive along a preset trajectory;

[0023] The fault simulation module is used to simulate the occurrence of at least one preset fault in the autonomous vehicle during operation, and to stop driving when the preset fault occurs.

[0024] The second driving control module is used to respond to the second trigger operation input to the fault clearing control, simulate the fault clearing process of the simulated unmanned vehicle, and control the simulated unmanned vehicle to drive to the destination according to the preset trajectory to complete a simulation.

[0025] Thirdly, this application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

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

[0027] The simulation demonstrates that the driverless vehicle will experience at least one preset fault during operation and will stop driving when the preset fault occurs.

[0028] In response to the second trigger operation input to the fault clearing control, the system simulates fault clearing of the simulated unmanned vehicle and controls the simulated unmanned vehicle to travel to the destination along a preset trajectory to complete a simulation.

[0029] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

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

[0031] The simulation demonstrates that the driverless vehicle will experience at least one preset fault during operation and will stop driving when the preset fault occurs.

[0032] In response to the second trigger operation input to the fault clearing control, the system simulates fault clearing of the simulated unmanned vehicle and controls the simulated unmanned vehicle to travel to the destination along a preset trajectory to complete a simulation.

[0033] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

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

[0035] The simulation demonstrates that the driverless vehicle will experience at least one preset fault during operation and will stop driving when the preset fault occurs.

[0036] In response to the second trigger operation input to the fault clearing control, the system simulates fault clearing of the simulated unmanned vehicle and controls the simulated unmanned vehicle to travel to the destination along a preset trajectory to complete a simulation.

[0037] The aforementioned simulation method, apparatus, and equipment based on fault handling for simulated unmanned vehicles, in response to a first trigger operation input to the simulation start control, control the simulated unmanned vehicle to travel along a preset trajectory; simulate the simulated unmanned vehicle experiencing at least one preset fault during travel, and stop traveling upon the occurrence of the preset fault; in response to a second trigger operation input to the fault resolution control, simulate fault resolution processing for the simulated unmanned vehicle, and control the simulated unmanned vehicle to travel along the preset trajectory to the endpoint, thereby completing one simulation. In traditional simulations, simulating various complex and random scenarios and faults often requires powerful computing hardware to support real-time computation. However, by using preset trajectory travel and limited preset fault simulation methods, the computational performance requirements of the hardware are relatively reduced, thus reducing the cost of hardware procurement and consequently lowering the simulation cost of the simulated unmanned vehicle. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

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

[0040] Figure 2 This is a flowchart illustrating a simulation method for handling faults in an unmanned vehicle, as shown in one embodiment.

[0041] Figure 3 This is a structural block diagram of a simulation device for handling faults in an unmanned vehicle, as shown in one embodiment. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0043] In one exemplary embodiment, an electronic device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 1As shown, this electronic device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores data from the simulation process of fault handling for autonomous vehicles. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a simulation method for fault handling for autonomous vehicles.

[0044] Those skilled in the art will understand that Figure 1 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the electronic device to which 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 different component arrangements.

[0045] In one exemplary embodiment, such as Figure 2 As shown, a simulation method for fault handling of unmanned vehicles based on simulation is provided, and this method is applied to... Figure 1 Taking an electronic device as an example, the explanation includes the following steps 201 to 203. Wherein:

[0046] Step 201: In response to the first trigger operation input to the simulation start control, control 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 this embodiment, the electronic device first initializes, including loading a 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.). Simultaneously, the simulation environment is initialized, such as setting up a virtual warehouse scene and information on cargo distribution, which will affect the operation and fault simulation of the simulated unmanned vehicle.

[0049] Next, the simulation startup control is initialized to ensure it functions correctly and is ready to receive trigger operations. For example, the specific form of the first trigger operation (such as a click, button press, etc.) and its corresponding response logic are defined.

[0050] In some embodiments, if personnel testing is involved, personnel information can be entered and grouped at this stage, such as into active processing groups, passive assistance groups, and manual control groups. Personnel in different groups will have different operating permissions and tasks in subsequent fault handling processes, and electronic devices need to record and identify the input of personnel in different groups.

[0051] When the electronic device detects the first trigger operation on the simulation start control (e.g., the user clicks the "Start Simulation" button), it calculates the initial driving parameters of the simulated unmanned vehicle, such as speed and direction, based on preset trajectory data. Then, through graphics rendering or animation generation technology, it displays the simulated unmanned vehicle starting to drive along the preset trajectory in the virtual scene. During the driving process, the electronic device updates the simulated unmanned vehicle's position, status, and other information in real time and displays it on the interface, such as the vehicle's real-time coordinates, driving speed, and distance traveled. It can also display other elements in the virtual scene (such as warehouse shelves and goods) to provide more realistic visual feedback.

[0052] In some embodiments, the predetermined trajectory equations of the simulated unmanned vehicle can be Equations (1)-(4):

[0053] (1)

[0054] (2)

[0055] (3)

[0056] (4)

[0057] in, This indicates the position and coordinates of the simulated driverless vehicle. The simulated autonomous vehicle is initialized with its position, the current time (in seconds), and v (representing the vehicle's speed in m / s). The coordinates are... This is a constant value, representing the farthest position that the simulated driverless vehicle can travel.

[0058] Assuming constant speed and time as the independent variable, the time elapsed is denoted as . At any given moment, the current coordinate position is calculated using the trajectory formula. The simulated driverless car is projected onto a screen using electronic devices to display the car's movement. The position at each moment is used to draw the position of the simulated unmanned vehicle at different times, thereby realizing the trajectory animation of the simulated unmanned vehicle moving at speed v over time.

[0059] Step 202: Simulate the unmanned vehicle experiencing at least one preset fault during operation and stop driving when the preset fault occurs.

[0060] In this embodiment, during the simulated autonomous vehicle operation, the electronic device randomly determines whether to trigger a preset fault based on preset fault simulation logic and probability parameters. For example, every certain time interval (e.g., 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 (e.g., motor fault, sensor fault, communication fault, etc.) is selected from the preset fault list for simulation.

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

[0062] Step 203: In response to the second trigger operation input to the fault clearing control, simulate the fault clearing process of the simulated unmanned vehicle and control the simulated unmanned vehicle to travel to the destination according to the preset trajectory to complete a simulation.

[0063] In this embodiment, when the simulated unmanned vehicle experiences a preset fault and stops driving, it waits for the operator to input a second trigger operation (e.g., clicking the "Fault Resolve" button or executing a specific repair operation command) onto the fault resolution control. The electronic device monitors the input status of the control in real time, and upon detecting valid input, begins the fault resolution process.

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

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

[0066] Once the simulated autonomous vehicle passes the fault clearance verification, the electronic equipment calculates the remaining travel path and parameters from the current location to the destination based on the preset trajectory data. Then, it continues to control the simulated autonomous vehicle to travel along the preset trajectory while simultaneously monitoring the vehicle's status in real time to ensure its successful arrival at the destination. During the journey, various operational information and virtual scenes can still be displayed until the simulated autonomous vehicle reaches the destination, completing a full simulation process.

[0067] In some embodiments, the electronic device records a large amount of relevant data throughout the simulation, including the initial parameters of the simulated autonomous vehicle, its driving trajectory, speed changes, fault occurrence time, fault type, fault handling time, and handling result (success or failure). This data can be stored in local files or a database for subsequent analysis and evaluation.

[0068] After a simulation is completed, the electronic equipment can analyze the recorded data to generate various statistical information and reports. For example, it can calculate the average interval between failures, the frequency of different failure types, the average fault handling time, and the overall operating efficiency of the simulated autonomous vehicle. These analytical results can help evaluate the performance of the simulated autonomous vehicle, test the effectiveness of fault handling strategies, and provide valuable reference for further optimizing autonomous vehicle design, improving control algorithms, and refining fault handling procedures.

[0069] In the aforementioned simulation method for handling faults in simulated unmanned vehicles, in response to a 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 experience at least one preset fault during its travel, and stops traveling upon the occurrence of the preset fault; in response to a second trigger operation input to the fault resolution control, the simulated unmanned vehicle is simulated to perform fault resolution processing, and is controlled to travel along the preset trajectory to the endpoint to complete one simulation. In traditional simulations, simulating various complex and random scenarios and faults often requires powerful computing hardware to support real-time computation. However, by using a preset trajectory and a limited preset fault simulation method, the computational performance requirements of the hardware are relatively reduced, thus reducing the cost of hardware procurement and consequently lowering the simulation cost of the simulated unmanned vehicle.

[0070] In one exemplary embodiment, the method further includes:

[0071] After the simulated driverless vehicle stops and starts moving, a fault icon for a preset fault and multiple fault clearance controls are displayed. Different fault clearance controls correspond to different faults.

[0072] Correspondingly, in response to a second trigger operation input to the fault clearing control, a fault clearing process is simulated for the simulated unmanned vehicle, including:

[0073] In response to a second trigger operation inputting to the target fault clearing control among multiple fault clearing controls, the target fault corresponding to the target fault clearing control of the simulated unmanned vehicle is simulated.

[0074] In this embodiment, 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 based on the type of fault. This fault identifier should intuitively convey key information such as the type and severity of the fault to the user, for example, through a specific colored icon, 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 immediately.

[0075] The electronic device determines multiple possible troubleshooting methods based on a pre-defined fault and generates a corresponding troubleshooting control for each method. These controls can take various forms, such as buttons, menu options, or virtual joysticks, to accommodate different operational needs and user habits. These troubleshooting controls are arranged on the simulation interface in a logical order or layout, for example, displayed together near fault indicators or categorized into different areas according to fault type. Clear text descriptions or icon prompts are added to each troubleshooting control, indicating its corresponding troubleshooting operation for user understanding and selection.

[0076] The electronic device continuously monitors the input status of all troubleshooting controls, waiting for the user to interact with one of them. This process is similar to monitoring the simulation startup control in the above embodiment, capturing the user's triggering operation on the troubleshooting control by listening to input events from the operating system or application, such as mouse clicks, keyboard key presses, and touch operations.

[0077] When a second trigger operation is detected for a certain fault clearing control, the electronic device determines that the fault clearing control is the target fault clearing control. By using the unique identifier, location information, or other predefined identification methods of the target fault clearing control, the device accurately identifies which fault clearing operation the user has selected, thereby clarifying the target fault that the user intends to clear.

[0078] Based on the target fault corresponding to the target fault resolution control, the electronic device invokes the appropriate fault resolution simulation program or algorithm. The simulation program is built upon an understanding and modeling of real-world fault handling processes. It includes a series of virtual operations and state changes to simulate how to repair the fault in a real-world situation. For example, if the target fault is motor overheating, the simulation program may include operations such as reducing the motor load, activating the cooling system (adjusting relevant parameters in a virtual environment), and checking motor temperature sensor data until the motor temperature returns to normal.

[0079] During the simulated fault resolution process, the electronic equipment updates the status information of the simulated unmanned vehicle in real time, reflecting the progress of fault repair. For example, as the simulated repair operation proceeds, the functions of the vehicle affected by the fault are gradually restored, such as restarting the motor (if applicable) and restoring the 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 fault resolution, such as displaying text descriptions of the repair steps, progress bars, or animation effects.

[0080] Once the simulated fault resolution is complete, the electronic equipment performs a comprehensive verification of the simulated autonomous vehicle's status to ensure the target fault has been successfully resolved. This includes checking whether key parameters of various systems in the simulated autonomous vehicle have returned to normal, such as the output power of the power system, the measurement accuracy of sensors, and the response performance of the control system. If the verification passes, it indicates that the simulated autonomous vehicle has returned to a normal driving state and is ready to enter the subsequent driving process; if the verification fails, the electronic equipment will take corresponding measures according to preset rules, such as prompting the user for the reason for the fault resolution failure, providing further fault diagnosis suggestions, or redisplaying the fault resolution controls, allowing the user to try other fault resolution methods again.

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

[0082] In one exemplary embodiment, the method further includes:

[0083] If the target fault corresponding to the target fault resolution control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory, and the fault handling does not correspond to the preset fault.

[0084] In this embodiment, after receiving a second trigger operation for the target fault clearing control, the electronic device compares the target fault associated with the selected target fault clearing control with the actual preset fault. This comparison process may involve comparing various aspects of information, such as fault type, fault code (if any), and fault characteristics, to determine if the two match. For example, if the preset fault is "navigation system signal loss," while the target fault clearing control corresponds to "motor drive fault," then there is clearly no match.

[0085] When a mismatch is detected, the electronic device displays a prominent error message on the simulation interface. This message should clearly inform the user that the selected troubleshooting operation is not suitable for the current actual fault, for example, displaying "The selected troubleshooting method is not applicable to the current fault, please select again." Simultaneously, sound prompts (such as a brief alarm) or visual effects (such as a flashing border) can be used to enhance the effectiveness of the prompt, ensuring that the user notices the error promptly.

[0086] Even if the target fault clearing operation is incorrect, the electronic equipment must still keep the simulated driverless car in its current stopped state before further processing to prevent accidents caused by the erroneous operation. If the vehicle continues to drive without the fault being truly cleared, it may cause more serious virtual accidents or data corruption.

[0087] To record instances of mishandling faults, the electronic device initializes a data structure. This structure contains key information related to the event, such as simulation time, preset fault type, information about the incorrectly selected target fault resolution control, and the vehicle's current status (position, speed, etc.), preparing for subsequent detailed recording. Simultaneously, it records the specific type and characteristics of the preset fault, as well as the target fault information corresponding to the incorrectly selected target fault resolution control, to clearly understand the specific circumstances of the error. For example, it records "at the specific time of simulation," the preset fault as "detailed fault description," and the target fault corresponding to the incorrectly selected target fault resolution control as "error fault description."

[0088] Record the vehicle status information of the simulated unmanned vehicle when a fault occurs and during the fault clearing operation, including the vehicle's position coordinates, speed value, driving direction, and key parameters of various systems in the simulated unmanned vehicle (such as battery power, sensor data, etc.).

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

[0090] After completing detailed recording, the electronic equipment determines whether to allow the simulated autonomous vehicle to continue driving along the preset trajectory based on preset rules. If the current fault is deemed not to have a serious impact on the vehicle's continued operation (e.g., a fault message indicating an error in a non-critical system), or if subsequent simulation processes are needed to test other functions after recording the error information, the electronic equipment will control the simulated autonomous vehicle to restart and continue driving along the preset trajectory. During operation, the vehicle's status is continuously monitored to ensure that no potential problems arise due to erroneous operation.

[0091] In some embodiments, electronic devices can store records of errors that do not correspond to the current fault handling data in local files or databases for subsequent detailed analysis. By statistically analyzing a series of similar error records, common error patterns encountered by users during fault handling can be identified, 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 a particular fault is frequently found to be incorrectly selected using a fault-clearing control, it may mean that the fault's prompts are not clear enough or the layout of the fault-clearing control is confusing, requiring corresponding improvements. Furthermore, after completing the entire simulation process, a report containing detailed information on events that do not correspond to the current fault handling can be generated as part of the simulation results and provided to relevant personnel so that they can fully understand the problems and situations that occurred during the simulation.

[0092] Through the above embodiments, the electronic device can properly handle the situation where the target fault resolution 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 one exemplary embodiment, the method further includes:

[0094] If the number of recorded occurrences reaches a preset threshold, it is determined that the simulated unmanned vehicle has experienced a system failure, and the simulated unmanned vehicle is controlled to stop driving.

[0095] The preset threshold is a value set before the simulation starts based on the system design requirements and test objectives, used to measure the severity of situations where fault handling does not correspond.

[0096] In this embodiment, the electronic device continuously tracks the number of times a fault handling mismatch occurs throughout the simulation process. Each time a fault handling mismatch event occurs and is recorded, the corresponding record count variable is updated by incrementing it by 1.

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

[0098] When the number of recorded incidents reaches a preset threshold, the electronic device determines system failures not only based on the number of records but also by considering other relevant factors. For example, it analyzes the specific types and distribution of previously recorded fault handling mishandling events to determine if a particular type of fault is frequently mishandled, or if multiple different types of mishandling occur consecutively within a short period. These situations may indicate more serious system problems. Furthermore, it examines changes in the simulated autonomous vehicle's actual operating status after previous mishandling, such as whether vehicle performance has significantly decreased or whether abnormal behavior has occurred (e.g., frequent deviations from the preset trajectory, excessive speed fluctuations). The presence of these anomalies further supports the determination of system failures.

[0099] Based on the above comprehensive assessment, if the electronic equipment determines that the simulated unmanned vehicle has experienced a system failure, it will set a corresponding flag in the internal status flag to indicate that the system is in a failure state. Simultaneously, a detailed system failure report can be generated, recording key information that led to the accident determination, including the number of times the threshold was reached, the specific details of the last few error handling steps, and the vehicle's current abnormal state behavior, for subsequent analysis and debugging.

[0100] Upon confirming a system failure, the electronic equipment initiates a safety stop strategy to bring the simulated autonomous vehicle to a halt. First, a stop command is sent to the virtual control system of the simulated vehicle, causing it to gradually decelerate and preventing damage to virtual cargo or other unforeseen events from sudden stopping. During deceleration, the vehicle's speed and position are continuously monitored to ensure a smooth stop. If the vehicle encounters special circumstances during the stopping process (such as approaching an obstacle), the electronic equipment can take additional control measures, such as adjusting the vehicle's steering angle to avoid the obstacle before stopping.

[0101] After the simulated autonomous vehicle comes to a complete stop, the electronic equipment records the vehicle's final stopping position, the time when its speed reaches zero, and other relevant final state information. This final state information is recorded in detail as part of the system failure incident. Simultaneously, a clear system failure message is displayed to the user on the simulation interface, informing them that the simulation has stopped due to a system failure incident. This may include a brief explanation of the cause of the incident (based on the previously generated system failure report) and suggestions for the next steps (such as checking simulation settings, restarting the simulation, etc.) so that the user understands the situation and can take appropriate action.

[0102] All data related to system failures during this simulation, including records of mismatched fault handling, vehicle operation data, and system state change data, will be stored in local files or a database. This data will provide rich material for subsequent in-depth analysis of the causes of system failures. The data can be initially organized and categorized to facilitate subsequent statistical analysis and troubleshooting. For example, data can be arranged chronologically, and different types of mismatched fault handling events can be grouped.

[0103] Through the above embodiments, the electronic device can accurately monitor the number of times the fault handling does not correspond to the record, reasonably determine the system failure accident, and safely control the simulated unmanned vehicle to stop driving, laying the foundation for subsequent analysis, processing and improvement work.

[0104] In one exemplary embodiment, the method further includes:

[0105] In response to the third trigger operation for the failure cancellation control, the simulated unmanned vehicle is processed to cancel the failure, and the simulated unmanned vehicle is controlled to continue driving on a preset trajectory based on the third trigger operation.

[0106] In this embodiment, the electronic device continuously monitors the input status of the malfunction clearing control, similar to the previous monitoring of the simulation start control and malfunction clearing control, by listening to input events from the operating system or application. For example, it detects mouse click events, keyboard key events, touch operations (if applicable), etc., to determine whether the user has operated the malfunction clearing control.

[0107] When an operation on a malfunction-removal control that matches a predefined trigger pattern is detected, it is identified as the third trigger operation.

[0108] Depending on the type and preset function of the failure resolution control, the electronic device invokes the corresponding failure resolution simulation program. This program is designed based on an understanding of the system failure and corresponding handling strategies, and includes a series of operations and state adjustment steps. For example, if the system failure is caused by a software error, the program might include reinitializing relevant software modules, checking and repairing data errors, and resetting system state variables. If it's a hardware-simulated failure (such as overheating of a virtual hardware component), it might involve simulating a cooling process, checking the hardware status, and restoring normal operating parameters.

[0109] During the simulation of troubleshooting, the electronic equipment updates the system status information of the simulated autonomous vehicle in real time, reflecting the progress of troubleshooting. For example, it gradually restores the system functions affected by the malfunction, such as reactivating sensors, restoring communication links, and adjusting vehicle control parameters to the normal range. Simultaneously, feedback information is provided on the simulation interface to inform the user of the progress of troubleshooting, such as displaying text descriptions of the processing steps, progress bar animations, and changes in status indicator lights, allowing the user to understand that the system is returning to normal.

[0110] Once the failure resolution simulation is complete, the electronic equipment calculates the initial parameters for the vehicle to resume driving based on the current state of the simulated autonomous vehicle and the preset trajectory. This includes determining the vehicle's initial position (which may be the position when it stopped or the position adjusted according to the situation after the failure resolution), initial speed (usually starting from a standstill, with the speed set to zero or a suitable starting speed set according to the scenario requirements), and initial direction (determined based on the preset trajectory and the vehicle's current attitude). Simultaneously, it checks and ensures that the vehicle's critical systems (such as the powertrain, steering system, and control system) are ready for normal operation to avoid driving abnormalities due to residual problems.

[0111] Using the calculated recovery driving parameters, the electronic system initiates driving control of the simulated unmanned vehicle, enabling it to continue driving along a preset trajectory. During the journey, the system continuously tracks the vehicle's position and status, constantly adjusting its speed, direction, and other motion parameters based on the preset trajectory and real-time conditions (such as encountering obstacles or receiving new control commands) to ensure the vehicle accurately follows the preset path. Simultaneously, the system status is continuously monitored to prevent further malfunctions or failures, ensuring the stability and reliability of the simulation.

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

[0113] In one exemplary embodiment, the method further includes:

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

[0115] The fourth trigger operation is a trigger command that conforms to a predefined trigger method, such as clicking a specific button or pressing a specific shortcut key.

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

[0117] Upon recognizing the fourth trigger operation for the non-malfunction release control, the electronic device sends a stop command to the simulated autonomous vehicle's control system. This stop command causes the vehicle's power system to cease outputting power, the wheels to stop rotating, while maintaining the vehicle's current position and attitude. During the stop, the electronic device continues to monitor the simulated autonomous vehicle's status to ensure a smooth stop and avoid virtual collisions or other abnormal situations (such as cargo falling, if such elements exist in the simulation scenario) caused by sudden stopping.

[0118] After the simulated driverless vehicle stops moving, the electronic device enters a standby state, continuously monitoring the input of the failure release control. This process is similar to the monitoring of various control trigger operations in the above embodiments, but the focus here is on the triggering of the failure release control. The electronic device keeps listening for input events from the operating system or application, ready to receive a third trigger operation for the failure release control.

[0119] When a third trigger operation is detected targeting the failure resolution control, the failure resolution process described above is followed. This may include steps such as calling the corresponding failure resolution simulation program, updating system status information, and providing feedback display on the simulation interface to ensure that the system recovers from the failure state or simulates the recovery process.

[0120] After completing the failure resolution simulation, the electronic equipment calculates the initial parameters for the vehicle to resume driving, such as position, speed, and direction, based on the current state of the simulated autonomous vehicle and the preset trajectory. This is similar to the steps taken in the third trigger operation in response to the failure resolution control to calculate the parameters for resuming driving. Simultaneously, all systems of the vehicle are checked and prepared to ensure it can safely and stably restart driving.

[0121] Using the calculated recovery driving parameters, the electronic equipment sends a start driving command to the simulated unmanned vehicle, enabling the vehicle to continue driving along a preset trajectory. During the driving process, the vehicle's position and status 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 or receiving new control commands) to ensure that the vehicle accurately moves along the preset trajectory.

[0122] If some background operations are paused while waiting for the failure resolution control to trigger, the electronic device resumes these operations to ensure the integrity and continuity of the simulation. For example, it restarts the calculation of dynamic changes in the vehicle's surrounding environment and updates relevant elements in the virtual scene (such as the operating status of other equipment, the movement of goods, etc., if applicable) to keep the simulation environment consistent with the vehicle's driving state 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, so that the simulated unmanned vehicle stops driving and waits for a suitable opportunity (to obtain the third trigger operation for the failure release control) before controlling the simulated unmanned vehicle to continue driving according to 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 of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0125] Based on the same inventive concept, this application also provides a simulation device for implementing the simulation method for handling unmanned vehicle faults as described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the simulation device for handling unmanned vehicle faults provided below can be found in the limitations of the simulation method for handling unmanned vehicle faults described above, and will not be repeated here.

[0126] In one exemplary embodiment, such as Figure 3 As shown, a simulation device for handling faults in an unmanned vehicle 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 respond to the first trigger operation input to the simulation start control and control the simulated unmanned vehicle to drive along a preset trajectory.

[0128] The fault simulation module 302 is used to simulate the occurrence of at least one preset fault in the unmanned vehicle during operation, and to stop 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 clearing control, simulate the fault clearing process of the simulated unmanned vehicle, and control the simulated unmanned vehicle to drive to the destination according to the preset trajectory to complete a simulation.

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

[0131] The display module 304 is used to display the fault identifier of the preset fault and multiple fault clearance controls after the simulated unmanned vehicle stops driving. Different fault clearance controls correspond to different faults.

[0132] Correspondingly, in response to a second trigger operation input to the fault clearing control, a fault clearing process is simulated for the simulated unmanned vehicle, including:

[0133] In response to a second trigger operation inputting to the target fault clearing control among multiple fault clearing controls, the target fault corresponding to the target fault clearing control of the simulated unmanned vehicle is simulated.

[0134] According to some embodiments of this 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 when the target fault corresponding to the target fault resolution control does not correspond to the preset fault, and to record the fault handling discrepancies.

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

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

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

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

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

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

[0142] The modules in the aforementioned simulation device for handling unmanned vehicle faults can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the electronic device in hardware form or independent of it, or stored in the memory of the electronic device in software form, so that the processor can call and execute the corresponding operations of each module.

[0143] In one exemplary embodiment, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

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

[0145] The simulation demonstrates that the driverless vehicle will experience at least one preset fault during operation and will stop driving when the preset fault occurs.

[0146] In response to the second trigger operation input to the fault clearing control, the system simulates fault clearing of the simulated unmanned vehicle and controls the simulated unmanned vehicle to travel to the destination along a preset trajectory to complete a simulation.

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

[0148] After the simulated driverless vehicle stops and starts moving, a fault icon for a preset fault and multiple fault clearance controls are displayed. Different fault clearance controls correspond to different faults.

[0149] Correspondingly, in response to a second trigger operation input to the fault clearing control, a fault clearing process is simulated for the simulated unmanned vehicle, including:

[0150] In response to a second trigger operation inputting to the target fault clearing control among multiple fault clearing controls, the target fault corresponding to the target fault clearing control of the simulated unmanned vehicle is simulated.

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

[0152] If the target fault corresponding to the target fault resolution control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory, and the fault handling does not correspond to the preset fault.

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

[0154] If the number of recorded occurrences reaches a preset threshold, it is determined that the simulated unmanned vehicle has experienced a system failure, and the simulated unmanned vehicle is controlled to stop driving.

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

[0156] In response to the third trigger operation for the failure cancellation control, the simulated unmanned vehicle is processed to cancel the failure, and the simulated unmanned vehicle is controlled to continue driving on a preset trajectory based on the third trigger operation.

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

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

[0159] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

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

[0161] The simulation demonstrates that the driverless vehicle will experience at least one preset fault during operation and will stop driving when the preset fault occurs.

[0162] In response to the second trigger operation input to the fault clearing control, the system simulates fault clearing of the simulated unmanned vehicle and controls the simulated unmanned vehicle to travel to the destination along a preset trajectory to complete a simulation.

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

[0164] After the simulated driverless vehicle stops and starts moving, a fault icon for a preset fault and multiple fault clearance controls are displayed. Different fault clearance controls correspond to different faults.

[0165] Correspondingly, in response to a second trigger operation input to the fault clearing control, a fault clearing process is simulated for the simulated unmanned vehicle, including:

[0166] In response to a second trigger operation inputting to the target fault clearing control among multiple fault clearing controls, the target fault corresponding to the target fault clearing control of the simulated unmanned vehicle is simulated.

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

[0168] If the target fault corresponding to the target fault resolution control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory, and the fault handling does not correspond to the preset fault.

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

[0170] If the number of recorded occurrences reaches a preset threshold, it is determined that the simulated unmanned vehicle has experienced a system failure, and the simulated unmanned vehicle is controlled to stop driving.

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

[0172] In response to the third trigger operation for the failure cancellation control, the simulated unmanned vehicle is processed to cancel the failure, and the simulated unmanned vehicle is controlled to continue driving on a preset trajectory based on the third trigger operation.

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

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

[0175] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

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

[0177] The simulation demonstrates that the driverless vehicle will experience at least one preset fault during operation and will stop driving when the preset fault occurs.

[0178] In response to the second trigger operation input to the fault clearing control, the system simulates fault clearing of the simulated unmanned vehicle and controls the simulated unmanned vehicle to travel to the destination along a preset trajectory to complete a simulation.

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

[0180] After the simulated driverless vehicle stops and starts moving, a fault icon for a preset fault and multiple fault clearance controls are displayed. Different fault clearance controls correspond to different faults.

[0181] Correspondingly, in response to a second trigger operation input to the fault clearing control, a fault clearing process is simulated for the simulated unmanned vehicle, including:

[0182] In response to a second trigger operation inputting to the target fault clearing control among multiple fault clearing controls, the target fault corresponding to the target fault clearing control of the simulated unmanned vehicle is simulated.

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

[0184] If the target fault corresponding to the target fault resolution control does not correspond to the preset fault, the simulated unmanned vehicle is controlled to continue driving along the preset trajectory, and the fault handling does not correspond to the preset fault.

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

[0186] If the number of recorded occurrences reaches a preset threshold, it is determined that the simulated unmanned vehicle has experienced a system failure, and the simulated unmanned vehicle is controlled to stop driving.

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

[0188] In response to the third trigger operation for the failure cancellation control, the simulated unmanned vehicle is processed to cancel the failure, and the simulated unmanned vehicle is controlled to continue driving on a preset trajectory based on the third trigger operation.

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

[0190] In response to the fourth trigger operation for the non-failure release control, the simulated unmanned vehicle is controlled to stop driving until the third trigger operation for the failure release control is obtained, at which point the simulated unmanned vehicle is controlled to continue driving 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, data stored, data displayed, 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 the relevant data must comply with relevant regulations.

[0192] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this 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. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0193] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A simulation method for handling faults in unmanned vehicles, characterized in that, The method includes: In response to the first trigger operation of the simulation start control input, the simulated unmanned vehicle is controlled to travel along a preset trajectory; The simulated unmanned vehicle is designed to experience at least one preset fault during operation and stop driving when the preset fault occurs. The method for determining the preset fault includes: calculating a random number after a preset time interval; and selecting the preset fault from a list of preset faults if the random number is less than the probability of the preset fault occurring. In response to a second trigger operation input to the fault clearing control, the simulated unmanned vehicle is simulated to clear the fault, and the simulated unmanned vehicle is controlled to travel to the destination according to the preset trajectory to complete a simulation.

2. The method according to claim 1, characterized in that, The method further includes: After the simulated driverless vehicle stops driving, a fault identifier of the preset fault and multiple fault clearance controls are displayed, wherein different fault clearance controls correspond to different faults; Correspondingly, the simulated fault clearance process for the simulated unmanned vehicle, in response to the second trigger operation input to the fault clearance control, includes: In response to a second trigger operation inputting a target fault resolution control among the plurality of fault resolution controls, the simulated unmanned vehicle is used to resolve the target fault corresponding to the target fault resolution control.

3. The method according to claim 2, characterized in that, The method further includes: If the target fault corresponding to the target fault clearance control does not correspond to the preset fault, it is determined according to the preset rules whether the simulated unmanned vehicle is allowed to continue driving along the preset trajectory. If the preset rules allow the simulated unmanned vehicle to continue traveling along the preset trajectory, the simulated unmanned vehicle is controlled to continue traveling along the preset trajectory, and a record of any fault handling is made.

4. The method according to claim 3, characterized in that, The method further includes: If the number of recorded occurrences reaches a preset threshold, it is determined that the simulated unmanned vehicle has experienced a system failure, and the simulated unmanned vehicle is controlled to stop driving.

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

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

7. A simulation device for handling faults in unmanned vehicles, characterized in that, The device includes: The first driving control module is used to respond to the first trigger operation input to the simulation start control and control the simulated unmanned vehicle to drive along a preset trajectory; The fault simulation module is used to simulate at least one preset fault occurring during the operation of the simulated unmanned vehicle, and to stop driving when the preset fault occurs; the method for determining the preset fault includes: calculating a random number after a preset time interval; if the random number is less than the probability of the preset fault occurring, selecting the preset fault from the preset fault list; The second driving control module is used to respond to the second trigger operation input to the fault clearing control, simulate fault clearing processing of the simulated unmanned vehicle, and control the simulated unmanned vehicle to drive to the destination according to the preset trajectory to complete a simulation.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

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

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

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