Scene testing method, device and system, computer equipment, computer readable storage medium and computer program product

Abstract

The invention relates to a scene test method, device and system, computer equipment, a computer readable storage medium and a computer program product, and the method comprises the steps that a service platform determines the adjustment information of the driving environment of a test vehicle according to a target test scene, and the adjustment information comprises simulation information and / or the scheduling information of a test participating vehicle; the service platform generates test information according to the adjustment information and the driving environment of the test vehicle; the service platform issues test information to the road side unit, the test vehicle and / or the test participating vehicle; the test information is used for the road side unit to generate a communication message with the test vehicle, and / or the test participating vehicle to generate a communication message with the test vehicle; and the test vehicle receives and analyzes the test information, and / or the test vehicle receives and analyzes the communication information, and the analyzed information triggers the test vehicle to perform a test item corresponding to the target test scene. The method can quickly form the test environment, improve the achievement efficiency of the scene and reduce the cost.

Description

Technical Field

[0001] The present application belongs to the field of intelligent transportation technology, and in particular, relates to scenario testing methods, devices, systems, computer equipment, computer-readable storage media, and computer program products. Background Art

[0002] Intelligent Transportation System (ITS) can improve traffic efficiency, safety and environmental sustainability. V2X (Vehicle to Everything) scenario testing is an important part of the development and evaluation of intelligent transportation systems, mainly to verify the performance and safety of vehicle-to-external communication. The scenario testing process needs to rely on a specific test environment. At present, the process of setting up the test environment requires strict accuracy requirements for the various objects involved in the scenario, and the efficiency of scenario achievement is low. In addition, it is usually necessary to build a test environment specifically for each test scenario, which leads to high costs. Summary of the invention

[0003] The embodiments of the present application provide a scenario testing method, apparatus, system, computer equipment, computer-readable storage medium, and computer program product, which solve the technical problems of high scenario achievement efficiency and cost in current V2X scenario testing.

[0004] In a first aspect, an embodiment of the present application provides a scenario testing method, which includes: a service platform determines adjustment information of a driving environment of a test vehicle according to a target test scenario, the adjustment information includes simulation information and / or scheduling information of test participating vehicles, and the test participating vehicles are vehicles that are not specifically serving the target test scenario; the service platform generates test information according to the adjustment information and the driving environment of the test vehicle; the service platform sends the test information to a roadside unit, a test vehicle and / or a test participating vehicle; the test information is used for: receiving and parsing by the tested vehicle, the roadside unit generating a communication message with the test vehicle, and / or the test participating vehicle generating a communication message with the test vehicle, and the communication message is used for receiving and parsing by the tested vehicle; wherein, the test information received and parsed by the tested vehicle, and / or the communication information received and parsed by the tested vehicle is used for: triggering the test vehicle to perform test items corresponding to the target test scenario.

[0005] In the above scenario testing method, the service platform can determine the adjustment information of the driving environment of the test vehicle according to the target test scenario, and generate test information according to the adjustment information and the driving environment of the test vehicle, and then send the test information to the roadside unit, the test vehicle and / or the test participating vehicle, so that the test vehicle can perform the test items corresponding to the target test scenario through interaction with the roadside unit and / or the test participating vehicle. In this method, the test participating vehicle is not dedicated to the target test scenario, that is, the test participating vehicle can be adjusted to serve any test scenario; the method can adjust the driving environment of the test vehicle by scheduling the test participating vehicle that does not specifically serve the target test scenario, or adjust the driving environment of the test vehicle by simulation, thereby realizing the test of the target test scenario. Through such a method, the test environment can be quickly formed and the efficiency of achieving the scenario can be improved; in addition, if the test participating vehicle is used for testing, the cost can be reduced by applying the test participating vehicle to different test scenarios. If the test is carried out in a simulation manner, the test cost can be effectively reduced because there is no need to build an actual scenario.

[0006] Exemplarily, when the adjustment information includes simulation information, the test in the method can be a scenario test that combines a real test vehicle and a simulation scenario (i.e., a combination of virtual and real). During the test, the server can send test information to the test vehicle, or can send test information to both the test vehicle and the roadside unit; when the adjustment information includes scheduling information of test participating vehicles, the test in the method can be a real scenario test that combines a real test vehicle and a real test participating vehicle. During the test, the server can send test information to the test vehicle and the test participating vehicles, or can send test information to the roadside unit; when the adjustment information includes simulation information and scheduling information of test participating vehicles, the test in the method can be a scenario test that combines a real test vehicle, at least partially real test participating vehicles and a simulation scenario. During the test, the server can send test information to the test vehicle and the test participating vehicles, or can send test information to the roadside unit.

[0007] In one embodiment, the adjustment information includes simulation information, and the simulation information includes: a target simulation vehicle and a collaborative simulation object located on a target simulation road section; wherein: the target simulation vehicle is a simulated vehicle of the test vehicle; the collaborative simulation object includes: simulation objects other than the target simulation vehicle required for the target test scenario; the target simulation road section is a simulated road section of the test road section where the test vehicle is located; the position of the target simulation vehicle on the target simulation road section corresponds to the position of the test vehicle on the test road section. In this embodiment, the test vehicle is a real vehicle, the test road section is a real road, and the test vehicle travels on the test road section; the target simulation vehicle is a simulated vehicle of the test vehicle, the target simulation road section is a simulated road section of the test road section, and the collaborative simulation vehicle includes: simulation vehicles other than the target simulation vehicle required for the target test scenario. Since the position of the target simulation vehicle on the target simulation road section corresponds to the position of the test vehicle on the test road section, during the test process of the target test scenario, the driving behavior of the target simulation vehicle on the target simulation road section is the same as the driving behavior of the test vehicle on the test road section, so that the driving behavior of the target simulation vehicle in the simulation environment can be regarded as the driving behavior of the test vehicle in the target test scenario. In this method, it is not necessary to materialize all objects in the target test scene, thereby reducing the cost of building the target test scene.

[0008] In an embodiment of the first aspect, the collaborative simulation object includes a collaborative simulation vehicle, and the service platform determines the adjustment information of the driving environment of the test vehicle according to the target test scenario, including: the service platform obtains the target simulation vehicle and the target simulation section according to the test vehicle and the test section; the service platform determines the conditions that the collaborative simulation vehicle needs to meet according to the target test scenario; the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, and the other simulated vehicles are simulated vehicles other than the target simulation vehicle on the target simulation section. In this embodiment, the target simulation vehicle and the target simulation section can be generated by the server, or can be obtained by the server in other ways; the server obtains the collaborative simulation vehicle by adjusting other simulated vehicles on the target simulation section, and this process is very close to the actual driving scenario, making the target test scenario test process more natural.

[0009] Exemplarily, the other simulated vehicles include: simulated vehicles whose distance from the target simulated vehicle is less than a preset threshold.

[0010] In one embodiment of the first aspect, the scenario testing method also includes: when it is determined that the test of the target test scenario is completed, the service platform restores the speed of other simulated vehicles after adjustment to the size before adjustment, and / or the service platform restores the type of other simulated vehicles after adjustment to the type before adjustment.

[0011] In an embodiment of the first aspect, the target test scenario is an overtaking scenario, and the test section is a two-way two-lane road. The service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, including: if there is a first simulated vehicle in the same-direction lane in front of the target simulation vehicle, and the distance to the target simulation vehicle is less than or equal to a first preset distance, the service platform adjusts the speed of the first simulated vehicle to a first speed value, and the first speed value is less than the speed of the target simulation vehicle; if there is a second simulated vehicle in the opposite lane in front of the target simulation vehicle, and the distance to the target simulation vehicle is less than or equal to a second preset distance, the service platform adjusts the speed of the second simulated vehicle to a second speed value, and the first preset distance is less than the second preset distance; wherein: the other simulated vehicles include the first simulated vehicle and the second simulated vehicle before adjustment, and the collaborative simulation vehicle includes the adjusted first simulated vehicle and the adjusted second simulated vehicle.

[0012] In an embodiment of the first aspect, the target test scenario is an overtaking scenario, and the test section is a two-way two-lane road. The service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, including: if there is no simulated vehicle in the same-direction lane in front of the target simulated vehicle and the distance to the target simulated vehicle is less than or equal to a first preset distance, then the service platform creates a first simulated vehicle in the same-direction lane in front of the target simulated vehicle at a position with a first preset distance from the target simulated vehicle, and adjusts the speed of the first simulated vehicle to a first speed value, which is less than the speed of the target simulated vehicle; if there is a second simulated vehicle in the opposite lane in front of the target simulated vehicle and the distance to the target simulated vehicle is less than or equal to a second preset distance, then the service platform adjusts the speed of the second simulated vehicle to a second speed value, and the first preset distance is less than the second preset distance; wherein: the other simulated vehicles include the second simulated vehicle before adjustment, and the collaborative simulation vehicle includes the first simulated vehicle and the second simulated vehicle after adjustment.

[0013] In an embodiment of the first aspect, the target test scenario is an overtaking scenario, and the test section is a two-way two-lane road. The service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, including: if there is a first simulated vehicle in the same-direction lane in front of the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to a first preset distance, the service platform adjusts the speed of the first simulated vehicle to a first speed value, and the first speed value is less than the speed of the target simulated vehicle; if there is no simulated vehicle in the opposite lane in front of the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to a second preset distance, the service platform creates a second simulated vehicle in the opposite lane in front of the target simulated vehicle, at a position with a second preset distance from the target simulated vehicle, and adjusts the speed of the second simulated vehicle to a second speed value, and the first preset distance is less than the second preset distance; wherein the other simulated vehicles include the first simulated vehicle before adjustment, and the collaborative simulation vehicle includes the second simulated vehicle and the first simulated vehicle after adjustment.

[0014] In an embodiment of the first aspect, the target test scenario is a collaborative vehicle formation scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulated vehicle needs to meet to obtain the collaborative simulated vehicle, including: if there is a third simulated vehicle in the same lane in the same direction in front of the target simulated vehicle and / or in the same lane in the same direction behind the target simulated vehicle, and the distance from the target simulated vehicle is less than or equal to a second preset distance, then the service platform controls the third simulated vehicle to keep driving in the same lane as the target simulated vehicle, controls the speed of the third simulated vehicle so that the distance between the third simulated vehicle and the target simulated vehicle gradually approaches the third preset distance, and when the distance between the third simulated vehicle and the target simulated vehicle is equal to the third preset distance, adjusts the speed of the third simulated vehicle to be the same as the speed of the target simulated vehicle; wherein, the other simulated vehicles include the third simulated vehicle before adjustment, and the collaborative simulated vehicle includes the third simulated vehicle after adjustment.

[0015] In an embodiment of the first aspect, the target test scenario is a collaborative vehicle formation scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulated vehicle needs to meet to obtain the collaborative simulated vehicle, including: if there is no simulated vehicle in the same lane in the same direction in front of the target simulated vehicle and in the same lane in the same direction behind the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to the second preset distance, and there is a third simulated vehicle in the same lane in the same direction in front of the target simulated vehicle and / or in the same lane in the same direction behind the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to the second preset distance, then the service platform controls the third simulated vehicle to change lanes to the lane where the target simulated vehicle is located, and controls the third simulated vehicle to keep driving in the same lane as the target simulated vehicle, controls the speed of the third simulated vehicle so that the distance between the third simulated vehicle and the target simulated vehicle gradually approaches the third preset distance, and when the distance between the third simulated vehicle and the target simulated vehicle is equal to the third preset distance, adjusts the speed of the third simulated vehicle to be the same as the speed of the target simulated vehicle; wherein the other simulated vehicles include the third simulated vehicle before adjustment, and the collaborative simulated vehicle includes the third simulated vehicle after adjustment.

[0016] In one embodiment of the first aspect, the service platform controls the third simulated vehicle to change lanes to the lane where the target simulated vehicle is located, including: the service platform controls the third simulated vehicle to change lanes from a non-same lane in the same direction in front of the target simulated vehicle to the lane where the target simulated vehicle is located; or the service platform controls the third simulated vehicle to change lanes from a non-same lane in the same direction behind the target simulated vehicle to the lane where the target simulated vehicle is located.

[0017] In an embodiment of the first aspect, the target test scenario is a collaborative vehicle formation scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulated vehicle needs to meet to obtain the collaborative simulated vehicle, including: if there is no simulated vehicle in the same lane in the same direction in front of the target simulated vehicle and in the same lane in the same direction behind the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to a second preset distance, and there is no simulated vehicle in the same lane in the same direction behind the target simulated vehicle and in the same lane in the same direction behind the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to the second preset distance, then the service platform adjusts the other simulated vehicles on the target simulation section according to the conditions that the collaborative simulated vehicle needs to meet to obtain the collaborative simulated vehicle, including: if there is no simulated vehicle in the same lane in the same direction behind the target simulated vehicle and in the same lane behind the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to the second preset distance, then the service platform adjusts the other simulated vehicles on the target simulated vehicle A third simulated vehicle is created at a position at a second preset distance from the target simulated vehicle in the same lane in the same direction in front of the vehicle and / or in a non-same lane in the same direction behind the vehicle, the third simulated vehicle is controlled to change lanes to the lane where the target simulated vehicle is located, and the third simulated vehicle is controlled to keep driving in the same lane as the target simulated vehicle, and the speed of the third simulated vehicle is controlled so that the distance between the third simulated vehicle and the target simulated vehicle gradually approaches the third preset distance, and when the distance between the third simulated vehicle and the target simulated vehicle is equal to the third preset distance, the speed of the third simulated vehicle is adjusted to be the same as the speed of the target simulated vehicle; wherein the cooperative simulated vehicle includes the third simulated vehicle.

[0018] In an embodiment of the first aspect, the target test scenario is: a collaborative emergency vehicle priority scenario, or an emergency vehicle reminder scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain a collaborative simulation vehicle, including: if there is a fifth simulated vehicle behind the target simulation vehicle in the same direction and lane, and the distance from the target simulation vehicle is less than or equal to the second preset distance, the service platform adjusts the speed of the fifth simulated vehicle to a third speed value, and changes the type of the fifth simulated vehicle to an emergency vehicle, and the third speed value is greater than the speed of the target simulation vehicle; wherein the other simulated vehicles include the fifth simulated vehicle before adjustment, and the collaborative simulation vehicles include the fifth simulated vehicle after adjustment.

[0019] In an embodiment of the first aspect, the target test scenario is: a collaborative emergency vehicle priority passage scenario, or an emergency vehicle reminder scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulated vehicle needs to meet to obtain a collaborative simulated vehicle, including: if there is no simulated vehicle behind the target simulated vehicle in the same direction and lane, and the distance to the target simulated vehicle is less than or equal to the second preset distance; there is a fifth simulated vehicle behind the target simulated vehicle in the same direction but not in the same lane, and the distance to the target simulated vehicle is less than or equal to the second preset distance, then the service platform controls the fifth simulated vehicle to change lanes to the lane where the target simulated vehicle is located, and adjusts the speed of the fifth simulated vehicle to a third speed value, and modifies the type of the fifth simulated vehicle to a type corresponding to an emergency vehicle, and the third speed value is greater than the speed of the target simulated vehicle; wherein, the other simulated vehicles include the fifth simulated vehicle before adjustment, and the collaborative simulated vehicles include the fifth simulated vehicle after adjustment.

[0020] In an embodiment of the first aspect, the target test scenario is: a collaborative emergency vehicle priority passage scenario, or an emergency vehicle reminder scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulated vehicle needs to meet to obtain a collaborative simulated vehicle, including: if there is no simulated vehicle in the same direction and lane behind the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to a second preset distance, and there is no simulated vehicle in the same direction and non-same lane behind the target simulated vehicle, and the distance to the target simulated vehicle is less than or equal to the second preset distance, then the service platform creates a fifth simulated vehicle in the same direction and lane behind the target simulated vehicle, at a position with a second preset distance away from the target simulated vehicle, controls the fifth simulated vehicle to change lanes to the lane where the target simulated vehicle is located, adjusts the speed of the fifth simulated vehicle to a third speed value, and modifies the type of the fifth simulated vehicle to a type corresponding to an emergency vehicle, and the third speed value is greater than the speed of the target simulated vehicle; wherein the collaborative simulated vehicles include the fifth simulated vehicle.

[0021] In an embodiment of the first aspect, the target test scenario is: a vehicle-to-vehicle collaborative lane change scenario, or a vehicle-road collaborative lane change scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain a collaborative simulation vehicle, including: if there is a sixth simulated vehicle in the adjacent lane in the same direction behind the target simulation vehicle, and the distance to the target simulation vehicle is less than or equal to the first preset distance, the service platform adjusts the speed of the sixth simulated vehicle to a fourth speed value, and the fourth speed value is greater than the speed of the target simulation vehicle; wherein the other simulated vehicles include the sixth simulated vehicle before adjustment, and the collaborative simulation vehicle includes the sixth simulated vehicle after adjustment.

[0022] In an embodiment of the first aspect, the target test scenario is: a vehicle-to-vehicle cooperative lane change scenario, or a vehicle-road cooperative lane change scenario. The service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain a collaborative simulation vehicle, including: if there is no simulated vehicle in an adjacent lane in the same direction behind the target simulation vehicle, and the distance to the target simulation vehicle is less than or equal to a first preset distance; if there is a sixth simulated vehicle in a non-adjacent lane in the same direction behind the target simulation vehicle, and the distance to the target simulation vehicle is less than or equal to the first preset distance, then the service platform controls the sixth simulated vehicle to change lanes to the adjacent lane in the same direction behind the target simulation vehicle, and adjusts the speed of the sixth simulated vehicle to a fourth speed value, which is greater than the speed of the target simulation vehicle; wherein the other simulated vehicles include the sixth simulated vehicle before adjustment, and the collaborative simulation vehicle includes the sixth simulated vehicle after adjustment.

[0023] In an embodiment of the first aspect, the target test scenario is: a vehicle-to-vehicle cooperative lane change scenario, or a vehicle-road cooperative lane change scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, including: if there is no simulated vehicle in the adjacent lane in the same direction behind the target simulation vehicle, and the distance to the target simulation vehicle is less than or equal to the first preset distance; and there is no simulated vehicle in the non-adjacent lane in the same direction behind the target simulation vehicle, and the distance to the target simulation vehicle is less than or equal to the first preset distance, then the service platform creates a sixth simulated vehicle in the non-adjacent lane in the same direction behind the target simulation vehicle, at a position where the distance to the target simulation vehicle is the first preset distance, controls the sixth simulated vehicle to change lanes to the adjacent lane in the same direction behind the target simulation vehicle, and adjusts the speed of the sixth simulated vehicle to a fourth speed value, which is greater than the speed of the target simulation vehicle; wherein the collaborative simulation vehicle includes the sixth simulated vehicle.

[0024] In an embodiment of the first aspect, the target test scenario is a vulnerable traffic participant collision reminder scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, including: if there is a seventh simulated vehicle in the same direction but not in the same lane in front of the target simulation vehicle, and the distance with the target simulation vehicle is less than or equal to the first preset distance, the service platform controls the seventh simulated vehicle to slow down to a stop in the lane; when the target simulation vehicle travels to a position with a fourth preset distance behind the seventh simulation vehicle, the service platform creates a vulnerable traffic participant at a first position in front of the seventh simulation vehicle, and the distance between the first position and the seventh simulation vehicle is within the first distance range, and the vulnerable traffic participant crosses the target simulation section at a fifth speed value; wherein the other simulated vehicles include the seventh simulated vehicle before adjustment, and the collaborative simulation vehicle includes the seventh simulated vehicle after adjustment.

[0025] In an embodiment of the first aspect, the target test scenario is a vulnerable traffic participant collision reminder scenario, and the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, including: if there is no simulated vehicle in the same direction but not in the same lane in front of the target simulation vehicle, and the distance to the target simulation vehicle is less than or equal to the first preset distance, then the service platform creates a seventh simulated vehicle in the same direction but not in the same lane in front of the target simulation vehicle, at a position with a first preset distance from the target simulation vehicle, and controls the seventh simulated vehicle to decelerate to stop in its lane; when the distance between the target simulation vehicle and the seventh simulated vehicle is equal to a fourth preset distance, the service platform creates a vulnerable traffic participant at a first position in front of the seventh simulated vehicle, and the distance between the first position and the seventh simulated vehicle is within the first distance range, and the vulnerable traffic participant crosses the target simulation section at a fifth speed value; wherein the collaborative simulation vehicles include the seventh simulated vehicle.

[0026] In an embodiment of the first aspect, the target test scenario is a scenario in which a roadside unit guides a vehicle to change lanes. The service platform adjusts other simulated vehicles on the target simulated road section according to the conditions that the collaborative simulated vehicle needs to meet to obtain a collaborative simulated vehicle, including: if it is determined that the target simulated vehicle has arrived at a position a second preset distance away from the intersection ahead, the service platform sets a simulated traffic light at the intersection ahead, and the status of the simulated traffic light is: the straight lane is red and the remaining time is the first preset time, and the left turn lane is green and the remaining time is the second preset time; if there is at least one simulated vehicle in the straight lane ahead of the target simulated vehicle within a range less than or equal to the second preset distance from the target simulated vehicle, the service platform controls at least one simulated vehicle to slow down until it stops at the intersection ahead, and after stopping, the distance between two adjacent simulated vehicles in at least one vehicle is within the second distance range; wherein, the other simulated vehicles include at least one simulated vehicle before adjustment, and the collaborative simulated vehicle includes at least one simulated vehicle after adjustment.

[0027] In an embodiment of the first aspect, the target test scenario is a scenario in which a roadside unit guides a vehicle to change lanes. The service platform adjusts other simulated vehicles on the target simulated road section according to the conditions that the collaborative simulated vehicle needs to meet to obtain a collaborative simulated vehicle, including: if it is determined that the target simulated vehicle has arrived at a position a second preset distance away from the intersection ahead, the service platform sets a simulated traffic light at the intersection ahead, and the status of the simulated traffic light is: the straight lane is red and the remaining time is the first preset time, and the left turn lane is green and the remaining time is the second preset time; if there is no simulated vehicle on the straight lane ahead of the target simulated vehicle within a range less than or equal to the second preset distance from the target simulated vehicle, the service platform creates at least one simulated vehicle on the straight lane ahead of the target simulated vehicle, at least one simulated vehicle stops at the intersection ahead, and the distance between two adjacent simulated vehicles in front and behind of at least one vehicle is within the second distance range; wherein, the collaborative simulated vehicle includes at least one simulated vehicle.

[0028] In a second aspect, an embodiment of the present application provides a scenario testing method, which is applied to a test vehicle, and the scenario testing method includes: the test vehicle receives: test information sent by a service platform, communication information sent by a roadside unit, and / or communication information sent by a test participating vehicle; wherein the test information is generated by the service platform based on adjustment information of the test vehicle's driving environment and the test vehicle's driving environment, the adjustment information of the test vehicle's driving environment is determined by the service platform based on a target test scenario, the communication information sent by the roadside unit is generated by the roadside unit based on the test information issued by the service platform, and the communication information sent by the test participating vehicle is generated by the test participating vehicle based on the test information issued by the service platform; the test vehicle parses the test information sent by the service platform, the communication information sent by the roadside unit, and / or the communication information sent by the test participating vehicle to obtain a parsing result; the test vehicle triggers the test items of the test vehicle based on the parsing result, and the test items of the test vehicle correspond to the target test scenario.

[0029] In a third aspect, an embodiment of the present application provides a scenario testing device, which includes: a unit for executing each step of the scenario testing method as described in any one of the first aspects above, or a unit for executing each step of the scenario testing method as described in the second aspect above.

[0030] In the fourth aspect, an embodiment of the present application provides a scenario testing system, the system comprising: a service platform, a roadside unit, a test vehicle and a test section, the test vehicle is located on the test section, the roadside unit is located on the roadside of the test section, the test vehicle is communicatively connected to the service platform, the roadside unit is communicatively connected to the test vehicle, and the roadside unit is communicatively connected to the service platform; wherein the service platform is used to execute the scenario testing method as described in any one of the first aspects above; the test vehicle is used to execute the scenario testing method as described in the second aspect above, so that the test vehicle performs testing of the target test scenario on the test section.

[0031] In an embodiment of the fourth aspect, the scenario testing system also includes a test participating vehicle, which is communicatively connected to the service platform, and the test participating vehicle is communicatively connected to the test vehicle. The test participating vehicle is used to receive test information issued by the service platform, and to generate communication messages with the test vehicle based on the received test information, and send the generated communication information to the test vehicle.

[0032] In an embodiment of the fourth aspect, the test vehicle is a vehicle driven by a driver, the test process of the target test scenario is a simulation test process based on the driving behavior of the test vehicle on the test section, and the display module in the test vehicle displays the simulation test process of the target test scenario to the driver.

[0033] In an embodiment of the fourth aspect, during a simulation test of a target test scenario, a roadside unit is used to implement at least one of the following steps: obtaining simulation information of the simulation test process from a service platform, obtaining driving information of the test vehicle from a test vehicle, determining first scheduling information based on the simulation information of the simulation test process and the driving information of the test vehicle, and sending the first scheduling information to the test vehicle; obtaining indication information corresponding to a simulated emergency vehicle in the simulation test process from the service platform, and sending emergency vehicle prompt information to the test vehicle based on the indication information; or obtaining driving intention information of the test vehicle from the test vehicle, determining second scheduling information based on the driving intention information, and sending the second scheduling information to the service platform.

[0034] In a fifth aspect, an embodiment of the present application provides a computer device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the scenario testing method described in any one of the first aspects above is implemented, or when the processor executes the computer program, the scenario testing method described in the second aspect above is implemented.

[0035] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the scenario testing method described in any one of the first aspects above is implemented, or when the computer program is executed by a processor, the scenario testing method described in the second aspect above is implemented.

[0036] In the seventh aspect, an embodiment of the present application provides a computer program product, which, when running on a computer device, implements the scenario testing method described in any one of the first aspects above, or implements the scenario testing method described in the second aspect above.

[0037] In the eighth aspect, an embodiment of the present application provides a chip, comprising: a processor, for calling and running a computer program from a memory, so that a computer device equipped with the chip executes a scenario testing method as described in any one of the first aspects above, or a computer device equipped with the chip executes a scenario testing method as described in the second aspect above.

[0038] It can be understood that the beneficial effects of the second to eighth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 A schematic diagram of an application environment of a scenario testing method provided in an embodiment of the present application; Figure 2 An interactive diagram of a scenario testing method provided in an embodiment of the present application; Figure 3 An interaction diagram of a scenario testing method provided by another embodiment of the present application; Figure 4 A schematic diagram of a flow chart for determining a simulation test environment for a lane-crossing warning scenario in an embodiment of the present application; Figure 5 Based on Figure 4 A schematic diagram of a simulation test environment generated by the process shown; Figure 6 A schematic diagram of a flow chart for determining a simulation test environment for a cooperative vehicle platooning scenario in an embodiment of the present application; Figure 7 Based on Figure 6 A schematic diagram of a simulation test environment generated by the process shown; Figure 8 A schematic diagram of a flow chart for determining a simulation test environment for emergency vehicle avoidance-related scenarios in an embodiment of the present application; Fig. 9 Based on Figure 8 A schematic diagram of a simulation test environment generated by the process shown; Fig.10 A schematic diagram of a flow chart for determining a simulation test environment for a cooperative lane change scenario in an embodiment of the present application; Fig.11 Based on Fig.10 A schematic diagram of a simulation test environment generated by the process shown; Fig.12 A schematic diagram of a flow chart of a simulation test environment determination process for a collision warning scenario for vulnerable traffic participants in one embodiment of the present application; Fig.13 Based on Fig.12 A schematic diagram of a simulation test environment generated by the process shown; Fig.14 A schematic diagram of a flow chart of a simulation test environment determination process for a scenario in which a roadside unit guides a vehicle to change lanes in one embodiment of the present application; Fig.15 Based on Fig.14A schematic diagram of a simulation test environment generated by the process shown; Fig.16 A structural block diagram of a scene testing device is provided for an embodiment of the present application; Fig.17 This is a diagram of the internal structure of a computer device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0041] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0042] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0043] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0044] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0045] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0046] The embodiment of the present application provides a scenario testing method, which is applied to a service platform, and the method includes: the service platform determines the adjustment information of the driving environment of the test vehicle according to the target test scenario, the adjustment information includes simulation information and / or the scheduling information of the test participating vehicle, and the test participating vehicle is a vehicle that does not specifically serve the target test scenario; the service platform generates test information according to the adjustment information and the driving environment of the test vehicle; the service platform sends test information to the roadside unit, the test vehicle and / or the test participating vehicle; the test information is used for: the tested vehicle receives and parses, the roadside unit generates a communication message between the test vehicle, and / or the test participating vehicle generates a communication message between the test vehicle and the test vehicle, and the communication message is used for the tested vehicle to receive and parse; wherein, the test information received and parsed by the tested vehicle, and / or the communication information received and parsed by the tested vehicle is used to: trigger the test vehicle to perform a test item corresponding to the target test scenario. The method in the embodiment of the present application can quickly form a test environment and improve the efficiency of achieving the scenario; in addition, if the test participating vehicle is used for testing, the cost can be reduced by applying the test participating vehicle to different test scenarios. If the test is performed in a simulation manner, the test cost can be effectively reduced because there is no need to build an actual scenario.

[0047] The scenario testing method provided in this application is exemplarily described below in conjunction with specific embodiments.

[0048] See also Figure 1 , is a schematic diagram of an application environment of a scenario testing method provided in an embodiment of the present application, in Figure 1 The embodiment shown is tested by simulation. Figure 1 As shown, in this application environment, the scenario test system includes: a test vehicle 110, a test section 120, a roadside unit 130 and a service platform 140. Among them: the test vehicle 110 is located on the test section 120, the roadside unit 130 is arranged on the roadside of the test section 120, and the test vehicle 110 is provided with an onboard unit 111, and the onboard unit 111 and the roadside unit 130 are connected in communication; in this application environment, a service platform 140 is also included, wherein the onboard unit 111 and the roadside unit 130 are connected in communication with the service platform 140 respectively.

[0049] It can be understood that scenario testing, or V2X scenario testing, refers to the verification of the performance and security of the vehicle 110 communicating with the outside world through the on-board unit 111 in a specific scenario; testing the test vehicle 110 in different scenarios is an important part of the development and evaluation of intelligent transportation systems.

[0050] Exemplarily, the service platform 140 can simulate the test vehicle 110 to obtain a target simulated vehicle, and the service platform 140 can simulate the test section 120 to obtain a target simulated section. In addition, other simulated vehicles other than the target simulated vehicle are arranged on the target simulated section. After determining the target test scenario to be tested, the target simulated vehicle is used as the main vehicle in the target test scenario, and then other simulated vehicles on the target simulation section are adjusted to obtain simulated vehicles other than the target simulation vehicle (i.e., collaborative simulated vehicles) required for the target test scenario, so as to determine the adjustment information of the driving environment of the test vehicle (i.e., to form the simulated test environment required for the target test scenario).

[0051] In some embodiments, after determining the adjustment information of the driving environment of the test vehicle, the service platform 140 generates test information according to the adjustment information and the driving environment of the test vehicle, and sends the test information to the vehicle-mounted unit 111 and / or the roadside unit 130, and the roadside unit 130 generates and sends communication information to the test vehicle 110 according to the received test information, and the vehicle-mounted unit 111 receives and parses the received test information and communication information, and the test vehicle 110 performs the test items corresponding to the target test scenario based on the parsing result of the vehicle-mounted unit 111. During the test process of the target test scenario, the test vehicle 110 travels on the test road section 120; the driving behavior of the test vehicle 110 on the test road section 120 is the same as the driving behavior of the target simulation vehicle on the target simulation road section.

[0052] In the embodiment of the present application, a scene testing method combining virtual and real is adopted, in which the test vehicle 110, the on-board unit 111, the test section 120 and the roadside unit 130 are all real, so that the real vehicle driving process and the real interaction process between the on-board unit 111 and the roadside unit 130 can be reflected; and other traffic objects required in the target test scene are obtained by simulation through the service platform 140 (such as collaborative simulated vehicles), which can reduce the cost of setting up a real site. In addition, by adjusting other simulated traffic objects on the target simulation section (such as other simulated vehicles) to form the simulated test environment required for the target test scene, the entire test process is closer to the actual traffic scene, making the test process of the target test scene more natural.

[0053] It is understandable that the communication connection between the on-board unit 111, the roadside unit 130, and the service platform 140 can adopt any available communication method, and the specific communication method can be selected and set as needed. This application does not limit or elaborate on this.

[0054] For example, the onboard unit 111 and the roadside unit 130 may communicate with each other using DSRC (Dedicated Short Range Communication) or other wireless communication technologies, which are not limited or elaborated in this application.

[0055] For another example, the vehicle-mounted unit 111 and the service platform 140 may communicate using wireless communication technology, such as a mobile communication network, such as 3G, 4G, 5G and other mobile communication technologies, which are not limited or elaborated in this application.

[0056] For another example, the service platform 140 and the roadside unit 130 may communicate with each other using wired communication technology or wireless communication technology. For example, the service platform 140 and the roadside unit 130 may communicate with each other using optical fiber, which is not limited or elaborated in this application.

[0057] It can be understood that the roadside unit 130 in the embodiment of the present application can be a fusion device of multiple different sensors, for example, it can be a roadside fusion perception system (also known as a smart base station or roadside base station), etc., and the present application does not limit this.

[0058] For example, the roadside unit 130 may sense the test road section and send the sensed information to the onboard unit 111 .

[0059] Exemplarily, the roadside unit 130 can communicate with the vehicle-mounted unit 111. For example, the roadside unit 130 can send warning information, road condition information, or dispatch information to the vehicle-mounted unit 111, and the vehicle-mounted unit 111 can send driving information of the test vehicle 110 (such as location information, speed information, or driving intention, etc.) to the roadside unit 130.

[0060] It is understandable that the service platform 140 may include a first display unit, and the simulation test process may be displayed in the first display unit.

[0061] Exemplarily, the first display unit may also display an interactive interface, and the user may select a target test scenario in the interactive interface, and the service platform 140 determines the target test scenario in response to the user's selection.

[0062] In some embodiments, the test vehicle 110 needs to be driven by a driver. During the test of the target test scenario, the driver drives the test vehicle 110 according to the interface displayed in the first display unit. Since the simulated driving behavior of the target simulated vehicle is the same as the actual driving behavior of the test vehicle 110, it can be considered that the driver controls the target simulated vehicle to test the target test scenario by controlling the test vehicle 110.

[0063] In some other embodiments, the test vehicle 110 may also be an autonomous driving vehicle. After the on-board unit 111 receives the test information and / or communication information, the test information and / or communication information is sent to the decision system of the test vehicle 110. The decision system of the test vehicle 110 controls the test vehicle 110 according to the test information and / or communication information. Since the simulated driving behavior of the target simulated vehicle is the same as the actual driving behavior of the test vehicle 110, it can be considered that the decision system of the test vehicle 110 controls the target simulated vehicle to test the target test scenario by controlling the test vehicle 110.

[0064] It is understandable that V2X is the core scenario-based application in automotive wireless communication technology. V2X can realize the comprehensive interconnection between vehicles and the surrounding environment, covering extensive connections between vehicles and vehicles (V2V), vehicles and infrastructure (V2I), vehicles and pedestrians (V2P), and vehicles and the cloud (V2C). Therefore, the target test scenarios of V2X scenario testing can also cover V2V, V2I, V2P, V2C and other aspects.

[0065] It should be understood that Figure 1 In the illustrated embodiment, the test vehicle 110 communicates with the outside world through the on-board unit 111, that is, the communication between the on-board unit 111 and the outside world is the communication between the test vehicle 110 and the outside world; in other embodiments, the test vehicle 110 may also communicate with the outside world through other means, such as communicating with the outside world through a cellular network communication module, and this application does not impose any restrictions on this.

[0066] In some other embodiments, the scenario testing method may also be tested using a test participating vehicle, that is, by adjusting the test participating vehicle to form a real test environment, and the test vehicle performs the test of the target test scenario in the real test environment.

[0067] For example, the scenario testing method provided in the embodiment of the present application can also be applied to another scenario testing system, which includes Figure 1The test vehicle 110, the test section 120, the roadside unit 130, the service platform 140 and the test participating vehicle are shown. Among them: the test vehicle 110 is located on the test section 120, the roadside unit 130 is arranged on the roadside of the test section 120, the on-board unit 111 is arranged on the test vehicle 110, and the on-board unit 111 and the roadside unit 130 are connected in communication; in this application environment, a service platform 140 is also included, wherein the on-board unit 111 and the roadside unit 130 are connected in communication with the service platform 140 respectively. The test participating vehicle can be located on the test section, the test participating vehicle is connected in communication with the service platform 140, the test participating vehicle is connected in communication with the test vehicle 110 through the on-board unit 111, and the test participating vehicle is used to receive the test information sent by the service platform 140, and is used to generate a communication message with the test vehicle 110 according to the received test information, and send the generated communication information to the test vehicle 110.

[0068] Exemplarily, after determining the target test scenario to be tested, the service platform 140 uses the test vehicle 110 as the main vehicle in the target test scenario, and then adjusts the test participating vehicles on the test section to obtain other vehicles required for the target test scenario, so as to determine the adjustment information of the driving environment of the test vehicle (i.e., to form the real test environment required for the target test scenario).

[0069] In some embodiments, after determining the adjustment information of the driving environment of the test vehicle, the service platform 140 generates test information according to the adjustment information and the driving environment of the test vehicle, and sends the test information to the on-board unit 111, the test participating vehicle and / or the roadside unit 130, the roadside unit 130 generates and sends communication information according to the received test information to the test vehicle 110, the test participating vehicle generates and sends communication information to the test vehicle 110 according to the received test information, the on-board unit 111 receives and parses the received test information and communication information, and the test vehicle 110 performs the test items corresponding to the target test scenario based on the parsing results of the on-board unit 111. During the test process of the target test scenario, the test vehicle 110 and the test participating vehicle both travel on the test road section 120.

[0070] It should be understood that there are some differences in this embodiment. Figure 1 The same parts of the embodiments shown are not described here in detail. Figure 1 Description of the illustrated embodiment.

[0071] In some other embodiments, the scenario testing method can also be tested in a manner that combines simulation and test participating vehicles, that is, part of the test environment is formed by simulation, and part of the test environment is formed by adjusting the test participating vehicles to form a real test environment, and then the real test environment is twinned to the simulated test environment to form a fused test environment, and the target simulation vehicle corresponding to the test vehicle performs the target test scenario test in the fused test environment, which is not elaborated in the present application.

[0072] To facilitate understanding, the scenario testing method in the embodiment of the present application is exemplarily described below with reference to the accompanying drawings.

[0073] Based on Figure 1 The application environment diagram of the scenario testing method shown in FIG. 1 is a schematic diagram of an application environment of the scenario testing method shown in FIG. 1 . In one embodiment of the present application, the following is provided: Figure 2 A scenario testing method is shown in the figure. The following is an example of applying the method to the above service platform 140. It can be understood that the following description is only an example and does not constitute a limitation on the scope of protection of this application. Figure 2 As shown, the method may include S210 to S270. Each step is described below.

[0074] S210: The service platform determines adjustment information of the driving environment of the test vehicle according to the target test scenario, where the adjustment information includes simulation information.

[0075] It can be understood that the test vehicle is a real vehicle, the test section is a real road, and the target test scenario is the scenario that the test vehicle needs to be tested.

[0076] Exemplarily, the service platform 140 may include a first display unit, the first display unit is used to interact with the user, the user can select a test scenario on the first display unit, and the service platform 140 can determine the target test scenario according to the user's selection operation on the first display unit. Of course, the service platform 140 can also determine the target test scenario by receiving other input operations from the user, and this application does not limit or elaborate on this.

[0077] In some embodiments, the test vehicle and the service platform can be connected through wireless communication technology, for example, a mobile communication network can be used for communication, such as 3G, 4G, 5G and other mobile communication technologies, or other wireless communication technologies can be used, which will not be elaborated here.

[0078] Exemplarily, the test vehicle may be provided with an on-board unit, and the test vehicle may be communicatively connected with the service platform via the on-board unit.

[0079] It can be understood that the adjustment information is information for adjusting the driving environment of the test vehicle. When the adjustment information includes simulation information, the adjustment information is to adjust the simulated driving environment of the test vehicle under the simulation environment, or to adjust the simulated driving environment of the target simulation vehicle corresponding to the test vehicle.

[0080] Exemplarily, the adjustment information includes simulation information, where the simulation information refers to simulation information corresponding to a target test scenario, or simulation test environment information corresponding to the target test scenario.

[0081] In some embodiments, the simulation information includes: a target simulated vehicle and collaborative simulation objects located on a target simulation section; the target simulated vehicle is a simulated vehicle of the test vehicle, and the collaborative simulation vehicle includes: simulation objects other than the target simulated vehicle required for the target test scenario; the target simulation section is a simulated section of the test section where the test vehicle is located; the position of the target simulated vehicle on the target simulation section corresponds to the position of the test vehicle on the test section.

[0082] It should be understood that the target simulated vehicle and the target simulated road section are obtained by simulating the test vehicle and the test road section respectively, and the collaborative simulation object is the simulation object corresponding to the objects required by the target test scenario except the test vehicle; or it can be said that the target simulated vehicle and the target simulated road section are twins of the test vehicle and the test road section in reality. Therefore, the driving behavior of the target simulated vehicle on the target simulation road section is the same as the driving behavior of the test vehicle on the test road section, and the specific technical means of simulation or twinning are not elaborated.

[0083] It is understandable that after determining the target test scene, the type, quantity, state and relative position of the state of each object included in the target test scene are all known. The target test scene may include objects such as vehicles, pedestrians, and traffic lights, and the simulation information may include the simulation objects corresponding to each object in the target test scene.

[0084] In some embodiments, the collaborative simulation object includes a collaborative simulation vehicle, and S210 includes: the service platform determines the conditions that the collaborative simulation vehicle needs to meet based on the target test scenario; the service platform adjusts other simulated vehicles on the target simulation section based on the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, where the other simulated vehicles are simulated vehicles other than the target simulation vehicle on the target simulation section.

[0085] It should be understood that the conditions that the collaborative simulation vehicles need to meet refer to the type, number, position, speed, and relative position relationship between other vehicles and the test vehicle in the target test scenario other than the test vehicle.

[0086] It should also be understood that some simulated vehicles are initially set on the target simulation section, and these simulated vehicles can travel on the target simulation section at a certain speed. For example, after the user selects the target test scene on the service platform, the behavior of the test vehicle entering the test section can trigger the test process of the target test scene; if the test vehicle enters the test section at speed A, then the target simulation vehicle also enters the target simulation section at speed A, and the simulated vehicles initially set on the target simulation section can be used as other simulated vehicles for forming the simulation scene. Then, by adjusting other simulated vehicles according to the conditions that the collaborative simulation vehicle needs to meet, the collaborative simulation vehicle can be obtained, thereby forming a simulation environment for the target test scene.

[0087] In this embodiment, by adjusting other simulated vehicles on the target simulated road section to assisting simulated vehicles, the method is simple and easy to implement; and the process is closer to the traffic scene on the actual road, making the test process of the target test scene more natural.

[0088] For example, the adjustment of other simulated vehicles may include: adjusting the speed of other simulated vehicles, controlling other simulated vehicles to change lanes, changing the vehicle type of other simulated vehicles, and the like.

[0089] In some embodiments, other simulated vehicles that can be adjusted to obtain cooperative simulated vehicles include: simulated vehicles whose distance from the target simulated vehicle is less than a preset threshold. Through such a limitation, it is possible to adjust only the simulated vehicles that are closer to the target simulated vehicle, so that the simulation scene can be obtained more quickly, and the adjustment process is presented more naturally due to the nearby adjustment.

[0090] In some embodiments, the scenario testing method may further include: when determining that the test of the simulation scenario is over, the service platform restores the speed of other simulated vehicles after adjustment to the size before adjustment, and / or the service platform restores the type of other simulated vehicles after adjustment to the type before adjustment. In this embodiment, for the adjusted simulated vehicle, the adjusted speed and type are restored to the value before adjustment after the test is over, which facilitates the subsequent testing process of other scenarios.

[0091] It should also be understood that, in addition to the collaborative simulation vehicles, collaborative simulation objects can also be obtained by adjusting other simulation objects on the target simulation section, which is not elaborated in this application.

[0092] S220: The service platform generates test information according to the adjustment information and the driving environment of the test vehicle.

[0093] It can be understood that after determining the adjustment information including the simulation information, the service platform clarifies how to form a simulation test environment corresponding to the target test scenario. The service platform generates the test information required in the test process based on the adjustment information and the driving environment of the test vehicle. The test information can be understood as the instruction information sent by the service platform to the roadside unit and the test vehicle.

[0094] S230. The service platform sends corresponding test information to the roadside unit and the test vehicle respectively.

[0095] It should be understood that the service platform sends test information corresponding to the roadside unit to the roadside unit, and sends test information corresponding to the test vehicle to the test vehicle, that is, the test information received by the roadside unit and the test vehicle are different.

[0096] It should also be understood that during the testing process of the target test scenario, the service platform will continue to generate test information multiple times. The test information generated by the service platform each time may include only the test information corresponding to the roadside unit, or only the test information corresponding to the test vehicle, or may also include the test information corresponding to the roadside unit and the test information corresponding to the test vehicle.

[0097] S240. The roadside unit generates communication information with the test vehicle according to the test information sent by the service platform.

[0098] S250: The roadside unit sends the communication information to the test vehicle.

[0099] In some embodiments, when the target test scenario is a scenario that requires the test vehicle to interact with the roadside unit, the service platform will send test information to the roadside unit in S230, and the roadside unit will generate communication information with the test vehicle based on the received test information. In other embodiments, when the target test scenario is a scenario that does not require the test vehicle to interact with the roadside unit, the service platform only needs to send test information to the test vehicle in S230.

[0100] It should be understood that Figure 2 In the illustrated embodiment, the target test scenario may be a scenario requiring interaction between the test vehicle and the roadside unit. After the service platform sends test information to the roadside unit, the roadside unit generates communication information with the test vehicle based on the received test information.

[0101] S260: The test vehicle parses the test information sent by the service platform and the communication information sent by the roadside unit to obtain a parsing result.

[0102] S270: The test vehicle triggers test items of the test vehicle according to the analysis results, and the test items of the test vehicle correspond to the target test scenarios.

[0103] It should be understood that after receiving the test information and / or communication information, the test vehicle needs to parse the received information and perform corresponding test items according to the parsing results.

[0104] In some embodiments, when the test vehicle is a vehicle driven by a driver, a second display unit can be set in the test vehicle, and the second display unit can display the target simulated vehicle, the collaborative simulated vehicle and the simulated test environment, and during the test, the content displayed in the second display unit changes in real time as the test progresses; the driver drives the test vehicle according to the content displayed in the second display unit.

[0105] In some other embodiments, when the test vehicle is an autonomous driving vehicle, the decision system of the test vehicle controls the test vehicle according to the analysis results, and the driving behavior of the target simulated vehicle in the simulation environment is the same as the actual driving behavior of the test vehicle.

[0106] The scenario testing method in the above embodiment realizes the testing of the target test scenario by combining virtual and real methods. Therefore, it is not necessary to materialize all objects in the target test scene. Only the test vehicle and the test section need to be materialized, thereby reducing the cost of building the target test scene.

[0107] In another embodiment of the present application, Figure 3 A scenario testing method is shown in the figure. The following is an example of applying the method to the above service platform 140. It can be understood that the following description is only an example and does not constitute a limitation on the scope of protection of this application. Figure 3 As shown, the method may include S310 to S390. Each step is described below.

[0108] S310. The service platform determines adjustment information of the driving environment of the test vehicle according to the target test scenario, where the adjustment information includes scheduling information of the test participating vehicles.

[0109] Understandably, Fig.13 The embodiment shown is Fig.12 The difference between the illustrated embodiments is that the adjustment information is different.

[0110] It should be understood that the test participating vehicle is an actual vehicle, and the vehicle is not specifically used to serve the target test scenario; since the adjustment information includes the scheduling information of the test participating vehicle, the test participating vehicle is scheduled through the scheduling information, thereby forming a real test environment for the test vehicle to perform the target test scenario.

[0111] S320: The service platform generates test information according to the adjustment information and the driving environment of the test vehicle.

[0112] It can be understood that after determining the adjustment information including the scheduling information of the test participating vehicles, the service platform clarifies how to form a real test environment corresponding to the target test scenario. The service platform generates the test information required in the test process based on the adjustment information and the driving environment of the test vehicle. The test information can be understood as the instruction information sent by the service platform to the roadside unit, test vehicle and test participating vehicles.

[0113] S330. The service platform sends test information to the roadside unit, the test vehicle and the test participating vehicles.

[0114] It should be understood that the service platform sends test information corresponding to the roadside unit to the roadside unit, sends test information corresponding to the test vehicle to the test vehicle, and sends test information corresponding to the test participating vehicle to the test participating vehicle, that is, the test information received by the roadside unit, the test vehicle and the test participating vehicle is different.

[0115] It should also be understood that during the testing process of the target test scenario, the service platform will continue to generate test information multiple times. The test information generated by the service platform each time may include at least one of: test information corresponding to the roadside unit, test information corresponding to the test vehicle, and test information corresponding to the test participating vehicle.

[0116] S340. The roadside unit generates communication information with the test vehicle according to the test information sent by the service platform.

[0117] S350: The roadside unit sends communication information to the test vehicle.

[0118] In some embodiments, when the target test scenario is a scenario that requires the test vehicle to interact with the roadside unit, the service platform will send test information to the roadside unit in S330, and the roadside unit will generate communication information with the test vehicle based on the received test information. In other embodiments, when the target test scenario is a scenario that does not require the test vehicle to interact with the roadside unit, the service platform only needs to send test information to the test vehicle in S230.

[0119] It should be understood that Figure 3 In the illustrated embodiment, the target test scenario may be a scenario requiring interaction between the test vehicle and the roadside unit. After the service platform sends test information to the roadside unit, the roadside unit generates communication information with the test vehicle based on the received test information.

[0120] S360. The test participating vehicle generates communication information with the test vehicle according to the test information sent by the service platform.

[0121] S370: The test participating vehicle sends communication information to the test vehicle.

[0122] It should be understood that Figure 3 In the illustrated embodiment, the target test scenario is a scenario requiring interaction between the test vehicle and the test participating vehicle. After the service platform sends test information to the test participating vehicle, the test participating vehicle generates communication information with the test vehicle based on the received test information.

[0123] S380: The test vehicle parses the test information sent by the service platform, the communication information sent by the test participating vehicles, and the communication information sent by the roadside unit to obtain the parsing result.

[0124] S390. The test vehicle triggers a test item of the test vehicle according to the analysis result, and the test item of the test vehicle corresponds to the target test scenario.

[0125] It should be understood that after receiving the test information and / or communication information, the test vehicle needs to parse the received information and perform corresponding test items according to the parsing results.

[0126] The scenario testing method in the above embodiment implements the testing of the target test scenario by scheduling the test participating vehicles, thereby forming a more efficient testing environment. Since there is no need to set up vehicles specifically serving the target test scenario, the testing cost can also be reduced.

[0127] In some other embodiments, the adjustment information of the driving environment of the test vehicle may also include simulation information and scheduling information of the test participating vehicles. In this embodiment, the test vehicle and the test participating vehicles are real vehicles, and other objects required by the target test environment can be formed in a simulation manner. Figure 2 and Figure 3 The interaction diagram shown is combined and will not be described here.

[0128] Understandably, Figure 2 The target test scenario in the shown embodiment can be any scenario in the V2X scenario test. When the target test scenario is a different test scenario, the service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet. The specific process of obtaining the collaborative simulation vehicle will be different. The following is an illustrative description of the process of determining the collaborative simulation vehicle under different test scenarios and the test process in conjunction with the accompanying drawings. However, the following examples are not intended to limit the target test scenarios in the embodiments of the present application.

[0129] It can be understood that the process of determining the collaborative simulation vehicle can also be referred to as the process of forming a simulation test environment, which will not be elaborated below.

[0130] Figure 4The figure is a schematic diagram of the collaborative simulated vehicle determination process for the overtaking warning scenario in one embodiment of the present application, wherein simulated vehicle A is the simulated vehicle corresponding to the test vehicle.

[0131] It should be understood that since overtaking via lane change is only possible in a two-way two-lane environment, the overtaking via lane change warning scenario in the embodiment of the present application occurs in a two-way two-lane environment.

[0132] like Figure 4 As shown, the process of forming the simulation test environment of the overtaking warning scenario may include: S311 to S313 and S321 to S323.

[0133] Step S311, determine whether there is a simulated vehicle EV1 within X meters in the same direction lane in front of the simulated vehicle A; if the judgment is no, jump to step S312, if the judgment is yes, jump to step S313.

[0134] It should be understood that X meters is a preset distance range threshold, and the size of X can be set as needed, and this application does not impose any limitation on this.

[0135] In some embodiments, X may be 50. Of course, X may also be other values, which will not be described in detail here.

[0136] It can be understood that there is a simulated vehicle EV1 within X meters in the same lane in front of the simulated vehicle A, or it can be said that the simulated vehicle EV1 is located in the same lane in front of the simulated vehicle A, and the distance between the simulated vehicle EV1 and the simulated vehicle A is less than or equal to X meters.

[0137] In some embodiments, when there is only one other simulated vehicle within X meters in the same-direction lane ahead of the simulated vehicle A, the other simulated vehicle is regarded as the simulated vehicle EV1.

[0138] In some other embodiments, when there are multiple other simulated vehicles within X meters in the same-direction lane ahead of the simulated vehicle A, the one of the multiple other simulated vehicles closest to the simulated vehicle A may be used as the simulated vehicle EV1.

[0139] For example, for the simulated vehicles other than the simulated vehicle EV1 among the multiple other simulated vehicles, their speeds can be controlled to be greater than the speed of the simulated vehicle A, so that they can quickly drive out of the target simulated road section. Of course, for the simulated vehicles other than the simulated vehicle EV1, other methods can also be used to adjust them to leave the target simulated road section, and this application does not limit or elaborate on this.

[0140] Step S312: Create a simulated vehicle EV1 at a position X meters ahead of the simulated vehicle A in the same direction lane.

[0141] It can be understood that when there is no simulated vehicle within X meters in the same-direction lane in front of the simulated vehicle A, it means that the simulated vehicle EV1 cannot be obtained by simple adjustment near the simulated vehicle A. Therefore, a simulated vehicle is created at a position X meters in the same-direction lane in front of the simulated vehicle A, and the simulated vehicle is used as the simulated vehicle EV1. By creating a simulated vehicle, it can be ensured that the simulation scene can be generated smoothly and quickly.

[0142] Step S313: adjust the speed of the simulated vehicle EV1 to a first speed value, where the first speed value is smaller than the speed of the simulated vehicle A.

[0143] It should be understood that the speed of the simulated vehicle EV1 is adjusted to be lower than the speed of the simulated vehicle A. Since the simulated vehicle EV1 is located in the same-direction lane in front of the simulated vehicle A, the simulated vehicle EV1 prevents the simulated vehicle A from continuing to travel at the current speed. If the simulated vehicle A wants to continue to travel at the current speed, it naturally needs to overtake by using another lane.

[0144] Exemplarily, the first speed value may be half of the speed of the simulated vehicle A. Of course, the relationship between the first speed value and the speed of the simulated vehicle A may also satisfy other conditions, as long as the speed of the simulated vehicle EV1 is less than the speed of the simulated vehicle A. This application does not impose any restrictions or elaborations on this.

[0145] Step S321: Determine whether there is a simulated vehicle EV2 within Y meters in the reverse lane in front of the simulated vehicle A.

[0146] It should be understood that Y meters is a preset distance range threshold, and the size of Y can be set as needed, and this application does not impose any restrictions on this.

[0147] In some embodiments, Y may be 100. Of course, Y may also be other values, which will not be described in detail here.

[0148] It can be understood that the simulated vehicle EV2 is located in the same lane in front of the simulated vehicle A, and the distance between the simulated vehicle EV2 and the simulated vehicle A is less than or equal to Y meters.

[0149] In some embodiments, when there is only one other simulated vehicle within Y meters in the same-direction lane ahead of the simulated vehicle A, the other simulated vehicle is regarded as the simulated vehicle EV2.

[0150] In some other embodiments, when there are multiple other simulated vehicles within Y meters in the same-direction lane ahead of the simulated vehicle A, the one farthest from the simulated vehicle A among the multiple other simulated vehicles may be used as the simulated vehicle EV2.

[0151] For example, for the simulated vehicles other than the simulated vehicle EV2 among the multiple other simulated vehicles, their speeds can be controlled to be greater than the speed of the simulated vehicle A, so that they can quickly drive out of the target simulated road section. Of course, for the simulated vehicles other than the simulated vehicle EV2, other methods can also be used to adjust them to leave the target simulated road section, and this application does not limit or elaborate on this.

[0152] Step S322: Create a simulated vehicle EV2 at a position Y meters in front of the simulated vehicle A in the reverse lane.

[0153] It can be understood that when there is no simulated vehicle within Y meters in the same-direction lane in front of the simulated vehicle A, it means that the simulated vehicle EV2 cannot be obtained by simple adjustment near the simulated vehicle A. Therefore, a simulated vehicle is created at a position Y meters in the same-direction lane in front of the simulated vehicle A, and the simulated vehicle is used as the simulated vehicle EV2. By creating a simulated vehicle, it can be ensured that the simulation scene can be generated smoothly and quickly.

[0154] Step S323: adjusting the speed of the simulated vehicle EV2 to a second speed value.

[0155] It should be understood that the speed of the simulated vehicle EV2 is adjusted to a second speed value, wherein the second speed value can be any non-zero value; the second speed value can be greater than the speed of the simulated vehicle A, the second speed value can be less than the speed of the simulated vehicle A, and the second speed value can also be equal to the speed of the simulated vehicle A. The size of the second speed value can be set as needed, and the present application does not impose any limitation or elaboration on this.

[0156] Exemplarily, the second speed value may be between 80 kilometers per hour and 100 kilometers per hour, which is not limited or elaborated in the present application.

[0157] It can be understood that after completing step S313 and step S323, the formation process of the simulation test environment of the overtaking warning scenario is completed, or the process of determining the collaborative simulation vehicle in the overtaking warning scenario is completed.

[0158] Figure 5 is based on Figure 4 The schematic diagram of the simulation test environment generated by the process shown in FIG. Figure 5 As shown, the simulated road section 410 is the simulated road of the test section, and the simulated road has two lanes in both directions; lane 411 is the same-direction lane in front of the simulated vehicle A, and lane 412 is the opposite lane in front of the simulated vehicle A. In the test, if the simulated vehicle A follows a road as shown in FIG. Figure 5If the test vehicle A follows the dashed path with arrows shown in the figure, overtakes the simulated vehicle EV1 and avoids colliding with the simulated vehicle EV2, it means that the test vehicle has successfully completed the test of this scenario; if the simulated vehicle A fails to overtake the simulated vehicle EV1 until the simulated vehicle EV1 drives out of the simulated road section 410, or the simulated vehicle A collides with the simulated vehicle EV2 during the overtaking process, it means that the test vehicle has not successfully completed the test of this scenario.

[0159] In some embodiments, Figure 4 and Figure 5 The corresponding overtaking warning scenario can be a V2V overtaking warning scenario. In this case, the vehicles need to interact with each other through the OBU during the test process; therefore, both the simulated vehicle EV1 and the simulated vehicle EV2 are simulated networked vehicles, that is, both the simulated vehicle EV1 and the simulated vehicle EV2 are provided with simulated OBUs, and the simulated vehicle B is also provided with a simulated on-board unit (or simulated OBU) 420. Since the simulated OBUs provided on the simulated vehicles EV1 and EV2 are all simulated by the service platform; therefore, after the OBU on the test vehicle sends information to the service platform, the service platform can forward the information to the simulated OBUs on the simulated vehicles EV1 and EV2, so as to realize the simulation of the interaction between the OBU of the test vehicle and the simulated OBUs on the simulated vehicles EV1 and EV2.

[0160] For example, in Figure 5 After the simulation test environment shown is formed, the OBU of the test vehicle displays the simulation test environment on the terminal device in the test vehicle; the OBU of the test vehicle can obtain the position information and speed information of the simulated vehicle EV1 and the simulated vehicle EV2. The OBU of the test vehicle can perform corresponding calculations based on its own position information and speed information, as well as the position information and speed information of the simulated vehicle EV1 and the simulated vehicle EV2, so as to display to the driver: the recommended overtaking time, the recommended overtaking speed and / or the collision warning; wherein the collision warning means that when the driver controls the test vehicle to overtake, if the OBU of the test vehicle determines through calculation that there is a risk of collision between the simulated vehicle A and the simulated vehicle EV2 in the simulation test environment, the OBU of the test vehicle needs to display the collision warning information to the driver to assist the driver in achieving safe overtaking.

[0161] Understandably, Figure 5 What is shown is only one kind of simulation test environment for the overtaking warning scenario. The simulation test environment for the overtaking warning scenario can also be in other forms, which will not be elaborated in this application.

[0162] Figure 6The figure is a schematic diagram of the process of determining the cooperative simulated vehicle in the cooperative vehicle formation scenario in one embodiment of the present application, wherein the simulated vehicle B is the simulated vehicle corresponding to the test vehicle.

[0163] It should be understood that the overall environment in the vehicle formation scenario includes four vehicle roles, namely, the pilot vehicle, the following vehicle, the tail vehicle and the free vehicle. The pilot vehicle refers to the head vehicle in the vehicle formation, which is responsible for the management of the entire vehicle formation, is the data source in the entire vehicle formation scenario, and sends vehicle formation member management information to all following vehicles; the following vehicle refers to the vehicle following the lead vehicle in the vehicle formation scenario, and is an important component vehicle in the vehicle formation scenario; the tail vehicle refers to the last vehicle in the vehicle formation, and this role can be set according to needs, or it can be not set and the tail vehicle can be treated as a following vehicle. Free vehicles refer to other vehicles outside the vehicle formation scenario, and free vehicles do not participate in the data interaction between the pilot vehicle and the following vehicle in the vehicle formation.

[0164] For example, the test vehicle may be a pilot vehicle, a following vehicle, or a tail vehicle, and this application does not impose any limitation on this.

[0165] For another example, since the vehicle formation includes at least two types of vehicles, namely a pilot vehicle and a follower vehicle, the vehicle formation includes at least two vehicles. Therefore, the vehicle formation may include two vehicles, or three vehicles or more vehicles, and this application does not impose any restrictions on this.

[0166] exist Figure 6 In the illustrated embodiment, the vehicle formation includes three vehicles, and the test vehicle or simulation vehicle B is the lead vehicle.

[0167] like Figure 6 As shown, the process of forming a simulation test environment for a cooperative vehicle platooning scenario may include: S511 to S518 and S521 to S528.

[0168] Step S511, determine whether there is a simulated vehicle EV3 within Y meters behind the simulated vehicle B in the same direction and lane; if the judgment is yes, jump to step S512, if the judgment is no, jump to step S514.

[0169] It should be understood that Y meters is a preset distance range threshold, and the size of Y can be set as needed, and this application does not impose any restrictions on this.

[0170] In some embodiments, Y may be 100. Of course, Y may also be other values, which will not be described in detail here.

[0171] It can be understood that there is a simulated vehicle EV3 within Y meters in the same direction and lane behind the simulated vehicle B, or it can be said that there is a simulated vehicle EV3 within Y meters in the same direction and lane behind the simulated vehicle B, or it can be said that the simulated vehicle EV3 is located in the same direction and lane behind the simulated vehicle B, and the distance between the simulated vehicle EV3 and the simulated vehicle B is less than or equal to Y meters.

[0172] In some embodiments, when there is only one other simulated vehicle within Y meters behind the simulated vehicle B in the same direction and lane, the other simulated vehicle is regarded as the simulated vehicle EV3.

[0173] In some other embodiments, when there are multiple other simulated vehicles within Y meters behind the simulated vehicle B in the same direction and lane, the one closest to the simulated vehicle B among the multiple other simulated vehicles can be used as the simulated vehicle EV3.

[0174] Step S512: Control the simulated vehicle EV3 to keep driving in the same lane as the simulated vehicle B, and control the simulated vehicle EV3 to drive to a position behind the simulated vehicle B at a distance of Z meters from the simulated vehicle B.

[0175] It should be understood that Z meters is the distance value between adjacent vehicles in the cooperative vehicle formation scenario, and the size of Z can be set as needed, and this application does not impose any restrictions on this.

[0176] In some embodiments, Z may be 15. Of course, Z may also be other values, which will not be described in detail here.

[0177] It can be understood that the speed of the simulated vehicle EV3 is adjusted according to the distance between the simulated vehicle EV3 and the simulated vehicle B, so as to control the simulated vehicle EV3 to travel to a position behind the simulated vehicle B at a distance of Z meters from the simulated vehicle B.

[0178] For example, when the distance between the simulated vehicle EV3 and the simulated vehicle B is greater than Z meters, the speed of the simulated vehicle EV3 can be adjusted to be greater than the speed of the simulated vehicle B so that the distance between the two is gradually reduced to Z meters; when the distance between the simulated vehicle EV3 and the simulated vehicle B is less than Z meters, the speed of the simulated vehicle EV3 can be adjusted to be less than the speed of the simulated vehicle B so that the distance between the two is gradually reduced to Z meters.

[0179] Step S513, adjusting the speed of the simulated vehicle EV3 to be the same as the speed of the simulated vehicle B, and controlling the simulated vehicle EV3 to maintain a distance of Z meters from the simulated vehicle B.

[0180] It should be understood that when the simulated vehicle EV3 travels to a position behind the simulated vehicle B at a distance of Z meters from the simulated vehicle B, the speeds of the simulated vehicle EV3 and the simulated vehicle B are adjusted to be the same as the speed of the simulated vehicle B, so that the distance between the simulated vehicle EV3 and the simulated vehicle B can be maintained at Z meters, thereby ensuring that the distance between the simulated vehicle EV3 and the simulated vehicle B meets the requirements of the vehicle formation scenario.

[0181] Step S514, determine whether there is a simulated vehicle EV3 within Y meters behind the simulated vehicle B in the same direction but not in the same lane; if the judgment is yes, jump to step S515, if the judgment is no, jump to step S516.

[0182] It is understandable that when there is no simulated vehicle within Y meters in the same direction and lane behind the simulated vehicle B, it means that it is impossible to obtain the simulated vehicle EV3 by simply adjusting the simulated vehicle in the same lane as the simulated vehicle B. Therefore, it is judged whether there is a simulated vehicle EV3 within Y meters in the same direction but not in the same lane behind the simulated vehicle B, which increases the probability of obtaining the simulated vehicle EV3 through adjustment.

[0183] Exemplarily, the non-same lane in the same direction behind the simulated vehicle B can be: the adjacent lane in the same direction behind the simulated vehicle B, and the simulated vehicle EV3 changes lanes from the adjacent lane to the lane where the simulated vehicle B is located. Since the lane change between adjacent lanes is a driving behavior in the scene, the adjustment process of the simulated vehicle EV3 is closer to the real scene.

[0184] It can be understood that there is a simulated vehicle EV3 within Y meters behind the simulated vehicle B in the same direction but not in the same lane. It can also be said that the simulated vehicle EV3 is located in the same direction but not in the same lane behind the simulated vehicle B, and the distance between the simulated vehicle EV3 and the simulated vehicle B is less than or equal to Y meters.

[0185] In some embodiments, when there is only one other simulated vehicle within Y meters behind the simulated vehicle B in the same direction but not in the same lane, the other simulated vehicle is regarded as the simulated vehicle EV3.

[0186] In some other embodiments, when there are multiple other simulated vehicles within Y meters behind the simulated vehicle B in the same direction but not in the same lane, the one closest to the simulated vehicle B among the multiple other simulated vehicles can be used as the simulated vehicle EV3.

[0187] Step S515, control the simulated vehicle EV3 to change lanes to the lane where the simulated vehicle B is located, and control the simulated vehicle EV3 to travel to a position behind the simulated vehicle B at a distance of Z meters from the simulated vehicle B.

[0188] It should be understood that if the lane behind the simulated vehicle B in the same direction but not in the same lane is an adjacent lane to the lane where the simulated vehicle B is located, the simulated vehicle EV3 can change lanes to the lane where the simulated vehicle B is located after one lane change; if the lane behind the simulated vehicle B in the same direction but not in the same lane is not an adjacent lane to the lane where the simulated vehicle B is located, the simulated vehicle EV3 needs to change lanes at least twice before it can change lanes to the lane where the simulated vehicle B is located. This application does not elaborate on this.

[0189] It can be understood that after the simulated vehicle EV3 changes lanes to the lane where the simulated vehicle B is located, the speed of the simulated vehicle EV3 can be adjusted according to the distance between the simulated vehicle EV3 and the simulated vehicle B, so as to control the simulated vehicle EV3 to travel to a position behind the simulated vehicle B with a distance of Z meters from the simulated vehicle B.

[0190] For example, when the distance between the simulated vehicle EV3 and the simulated vehicle B is greater than Z meters, the speed of the simulated vehicle EV3 can be adjusted to be greater than the speed of the simulated vehicle B so that the distance between the two is gradually reduced to Z meters; when the distance between the simulated vehicle EV3 and the simulated vehicle B is less than Z meters, the speed of the simulated vehicle EV3 can be adjusted to be less than the speed of the simulated vehicle B so that the distance between the two is gradually reduced to Z meters.

[0191] Step S516: Is there a simulated vehicle EV3 in the same direction but not in the same lane within Y meters in front of the simulated vehicle B? If yes, jump to step S518; if not, jump to step S517.

[0192] It can be understood that when there is no simulated vehicle within Y meters in the same direction and lane behind the simulated vehicle B, or within Y meters in the same direction but not in the same lane behind the simulated vehicle B, it means that it is impossible to obtain the simulated vehicle EV3 by simply adjusting the simulated vehicle behind the simulated vehicle B. Therefore, it is judged whether there is a simulated vehicle EV3 within Y meters in the same direction but not in the same lane in front of the simulated vehicle B, which increases the probability of obtaining the simulated vehicle EV3 through adjustment.

[0193] Step S517: Create a simulated vehicle EV3 behind the simulated vehicle B in the same direction but not in the same lane.

[0194] It is understandable that there is no simulated vehicle EV3 within Y meters in the same direction but not in the same lane in front of the simulated vehicle B, which means that it is impossible to obtain the simulated vehicle EV3 by simply adjusting the simulated vehicles near the simulated vehicle B. Therefore, a simulated vehicle is created in the same direction but not in the same lane behind the simulated vehicle B. By creating the simulated vehicle, it can be ensured that the simulation test environment can be formed smoothly and quickly.

[0195] Exemplarily, a simulated vehicle EV3 may be created X meters behind the simulated vehicle B in the same direction but not in the same lane, where X is greater than the distance Z between adjacent vehicles in the cooperative vehicle formation scenario; for example, X may be 50, and of course X may also be other values, which will not be elaborated here.

[0196] It can be understood that by creating a simulated vehicle EV3 in the same direction but not in the same lane behind the simulated vehicle B, the created simulated vehicle EV3 first undergoes lane change and position adjustment in step S515, and then undergoes step adjustment in step S513 to form the simulated vehicle EV3 in the final simulation test environment. Such multi-step adjustment instead of directly creating it in the same direction and lane behind the simulated vehicle B makes the formation process of the entire simulation test environment more realistic.

[0197] In addition, by limiting the creation of simulated vehicle EV3 to a position X meters behind simulated vehicle B in the same direction but not in the same lane, the location where simulated vehicle EV3 is created is farther away from simulated vehicle B, further improving the authenticity of the formation process of the simulation test environment.

[0198] Step S518, adjust the speed of the simulated vehicle EV3 to be less than the speed of the simulated vehicle B. After the simulated vehicle EV3 drives behind the simulated vehicle B, change lanes of the simulated vehicle EV3 to the lane where the simulated vehicle B is located, control the simulated vehicle EV3 to keep driving in the same lane as the simulated vehicle B, and control the simulated vehicle EV3 to drive to a position where the distance from the simulated vehicle B is Z meters.

[0199] For example, for the simulated vehicle EV3 in the same direction but not the same lane within Y meters in front of the simulated vehicle B, the simulated vehicle EV3 is adjusted to a speed lower than that of the simulated vehicle B, so that the simulated vehicle EV3 gradually lags behind the simulated vehicle B (i.e., the simulated vehicle EV3 drives behind the simulated vehicle B), and then the simulated vehicle EV3 changes lanes to the lane where the simulated vehicle B is located.

[0200] It can be understood that after the simulated vehicle EV3 changes lanes to the lane where the simulated vehicle B is located, the speed of the simulated vehicle EV3 can be adjusted according to the distance between the simulated vehicle EV3 and the simulated vehicle B, so as to control the simulated vehicle EV3 to travel to a position behind the simulated vehicle B with a distance of Z meters from the simulated vehicle B.

[0201] For example, when the distance between the simulated vehicle EV3 and the simulated vehicle B is greater than Z meters, the speed of the simulated vehicle EV3 can be adjusted to be greater than the speed of the simulated vehicle B so that the distance between the two is gradually reduced to Z meters; when the distance between the simulated vehicle EV3 and the simulated vehicle B is less than Z meters, the speed of the simulated vehicle EV3 can be adjusted to be less than the speed of the simulated vehicle B so that the distance between the two is gradually reduced to Z meters.

[0202] It can be understood that the execution order of steps S511 to S518 is as follows: Figure 6 The order shown in the table above shall prevail, and the step numbers are not used as a limitation on the order in which the steps are executed. Figure 6 As shown, the last step executed in steps S511 to S518 is step S513, or in other words, the different judgment branches in steps S511 to S518 are finally executed to step S513.

[0203] Step S521, determine whether there is a simulated vehicle EV4 within Y meters behind the simulated vehicle EV3 in the same direction and lane; if the judgment is yes, jump to step S522, if the judgment is no, jump to step S524.

[0204] Step S522, control the simulated vehicle EV4 to keep driving in the same lane as the simulated vehicle EV3, and control the simulated vehicle EV4 to drive to a position behind the simulated vehicle EV3 at a distance of Z meters from the simulated vehicle EV3.

[0205] Step S523, adjusting the speed of the simulated vehicle EV4 to be the same as the speed of the simulated vehicle EV3, and controlling the simulated vehicle EV4 to maintain a distance of Z meters from the simulated vehicle EV3.

[0206] Step S524, determine whether there is a simulated vehicle EV4 within Y meters behind the simulated vehicle EV3 in the same direction but not in the same lane; if the judgment is yes, jump to step S525, if the judgment is no, jump to step S526.

[0207] Step S525, controlling the simulated vehicle EV4 to change lanes to the lane where the simulated vehicle EV3 is located, and controlling the simulated vehicle EV4 to travel to a position behind the simulated vehicle EV3 at a distance of Z meters from the simulated vehicle EV3.

[0208] Step S526: Is there a simulated vehicle EV4 in the same direction but not in the same lane within Y meters in front of the simulated vehicle EV3? If yes, jump to step S528; if not, jump to step S527.

[0209] Step S527, creating a simulated vehicle EV4 behind the simulated vehicle EV3 in the same direction but not in the same lane.

[0210] Step S528, adjust the speed of the simulated vehicle EV4 to be less than the speed of the simulated vehicle EV3. After the simulated vehicle EV4 drives behind the simulated vehicle EV3, change the lane of the simulated vehicle EV4 to the lane where the simulated vehicle EV3 is located, control the simulated vehicle EV4 to keep driving in the same lane as the simulated vehicle EV3, and control the simulated vehicle EV4 to drive to a position where the distance from the simulated vehicle EV3 is Z meters.

[0211] It is understandable that the execution order of steps S521 to S528 is Figure 6 The order shown in the table above shall prevail, and the step numbers are not used as a limitation on the order in which the steps are executed. Figure 6 As shown, the last step executed in steps S521 to S528 is step S523, or in other words, the different judgment branches in steps S521 to S528 are finally executed to step S523.

[0212] It should be understood that Figure 6 In the embodiment shown, the simulated vehicle B is the pilot vehicle in the vehicle platoon scenario. Steps S511 to S518 are used to adjust the simulated vehicle EV3 to the same lane behind the simulated vehicle B and a distance of Z meters from the simulated vehicle B. The adjusted simulated vehicle EV3 is the following vehicle in the vehicle platoon scenario. Steps S521 to S528 are used to adjust the simulated vehicle EV4 to the same lane behind the simulated vehicle EV3 and a distance of Z meters from the simulated vehicle EV3. At this time, the simulated vehicle EV4 can be the following vehicle in the vehicle platoon scenario, or it can also be the tail vehicle in the vehicle platoon scenario; the process of steps S521 to S528 is different from the process of steps S511 to S518 only in that the names of the simulated vehicles involved are different. Therefore, the process of steps S521 to S528 will not be described in detail. The specific content can refer to the description of the process of steps S511 to S518.

[0213] It can be understood that after completing step S513 and step S523, the process of forming the simulation test environment of the cooperative vehicle platooning scenario is completed, or in other words, the process of determining the cooperative simulation vehicle in the cooperative vehicle platooning scenario is completed.

[0214] Figure 7 is based on Figure 6 The schematic diagram of the simulation test environment generated by the process shown in FIG. Figure 7 As shown, the simulated road section 610 is the simulated road of the test section, the lane 611 is the same lane in the same direction behind the simulated vehicle B, the lane 612 is the same lane in the same direction behind the simulated vehicle B, and the lane 613 is the same lane in the same direction in front of the simulated vehicle B. Figure 7 As shown, the simulated vehicle B, the simulated vehicle EV3 and the simulated vehicle EV4 form a vehicle queue.

[0215] In some embodiments, Figure 6 and Figure 7The corresponding cooperative vehicle formation scenario can be a V2V cooperative vehicle formation scenario. In this case, the vehicles need to interact through the OBU during the test process; therefore, both the simulated vehicle EV3 and the simulated vehicle EV4 are simulated networked vehicles, that is, the simulated vehicles EV3 and EV3 are both provided with simulated OBUs, and the simulated vehicle B is provided with a simulated on-board unit (or simulated OBU) 620. Since the simulated OBUs provided on the simulated vehicles EV3 and EV4 are all simulated by the service platform; therefore, after the OBU on the test vehicle sends information to the service platform, the service platform can forward the information to the simulated OBUs on the simulated vehicles EV3 and EV4, so as to realize the simulation of the interaction between the OBU on the test vehicle and the simulated OBUs on the simulated vehicles EV3 and EV4.

[0216] For example, in Figure 7 After the simulation test environment shown is generated, the OBU of the test vehicle displays the simulation test environment on the terminal device in the test vehicle; the OBU of the test vehicle can obtain the position information and speed information of the simulation vehicle EV3 and the simulation vehicle EV4.

[0217] Understandably, Figure 7 What is shown is only one type of simulation test environment for the cooperative vehicle platooning scenario. The simulation test environment for the cooperative vehicle platooning scenario may also be in other forms, which will not be elaborated in this application.

[0218] Figure 8 The figure is a schematic diagram of the process of determining the cooperative simulated vehicle in the emergency vehicle avoidance-related scenario in one embodiment of the present application, wherein the simulated vehicle C is the simulated vehicle corresponding to the test vehicle.

[0219] like Figure 8 As shown, the process of forming a simulation test environment for emergency vehicle avoidance-related scenarios may include: S710 to S750.

[0220] Step S710, determine whether there is a simulated vehicle EV5 within Y meters behind the simulated vehicle C in the same direction and lane; if the judgment is no, jump to step S720, if the judgment is yes, jump to step S750.

[0221] It should be understood that Y meters is a preset distance range threshold, and the size of Y can be set as needed, and this application does not impose any restrictions on this.

[0222] In some embodiments, Y may be 100. Of course, Y may also be other values, which will not be described in detail here.

[0223] It can be understood that there is a simulated vehicle EV5 within Y meters in the same direction and lane behind the simulated vehicle C. It can also be said that the simulated vehicle EV5 is located in the same direction and lane behind the simulated vehicle C and the distance between the simulated vehicle EV5 and the simulated vehicle C is less than or equal to Y meters.

[0224] In some embodiments, when there is only one other simulated vehicle within Y meters behind the simulated vehicle C in the same direction and lane, the other simulated vehicle is regarded as the simulated vehicle EV5.

[0225] In some other embodiments, when there are multiple other simulated vehicles within Y meters behind the simulated vehicle C in the same direction and lane, the one closest to the simulated vehicle C among the multiple other simulated vehicles can be used as the simulated vehicle EV5.

[0226] Step S720, determine whether there is a simulated vehicle EV5 within Y meters behind the simulated vehicle C in the same direction but not in the same lane; if the judgment is no, jump to step S730, if the judgment is yes, jump to step S740.

[0227] It can be understood that when there is no simulated vehicle within Y meters in the same direction and lane behind the simulated vehicle C, it means that the simulated vehicle EV5 cannot be obtained by simple adjustment near the simulated vehicle C. Therefore, it is judged whether there is a simulated vehicle EV5 within Y meters in the same direction but not in the same lane behind the simulated vehicle C, which increases the probability of obtaining the simulated vehicle EV5 through adjustment.

[0228] Step S730: Create a simulated vehicle EV5 behind the simulated vehicle C in the same direction but not in the same lane.

[0229] It can be understood that when there is no simulated vehicle within Y meters in the same direction and lane behind the simulated vehicle C, and there is no simulated vehicle within Y meters in the same direction but not in the same lane behind the simulated vehicle C, it means that the simulated vehicle EV5 cannot be obtained by simple adjustment near the rear of the simulated vehicle C. Therefore, a simulated vehicle EV5 is created in the same direction but not in the same lane behind the simulated vehicle C, at a distance of Y meters from the simulated vehicle C. By creating a simulated vehicle, it can be ensured that the simulation test environment can be smoothly formed.

[0230] Step S740: Control the simulated vehicle EV5 to change lanes to the lane where the simulated vehicle C is located.

[0231] It should be understood that if the non-same lane in the same direction behind the simulated vehicle C is an adjacent lane to the lane where the simulated vehicle C is located, the simulated vehicle EV5 can change lanes to the lane where the simulated vehicle C is located after one lane change; if the non-same lane in the same direction behind the simulated vehicle C is not an adjacent lane to the lane where the simulated vehicle C is located, the simulated vehicle EV5 needs to change lanes at least twice before it can change lanes to the lane where the simulated vehicle C is located, and this application will not elaborate on this.

[0232] Step S750: adjust the speed of the simulated vehicle EV5 to a third speed value, change the type of the simulated vehicle EV5 to an emergency vehicle, and the third speed value is greater than the speed of the simulated vehicle C.

[0233] It can be understood that, as a simulated emergency vehicle, the type of the simulated vehicle EV5 can be changed by changing the motion model of the simulated vehicle EV5; and the third speed value is the speed of the emergency vehicle. Since the emergency vehicle (i.e., the simulated vehicle EV5 after the type is changed) is traveling behind the simulated vehicle C, when the third speed value is greater than the speed of the simulated vehicle C, the simulated vehicle C needs to give way.

[0234] Exemplarily, the types of emergency vehicles may be: fire trucks, ambulances, police cars, engineering rescue vehicles, accident investigation vehicles, etc. This application does not limit the specific types of emergency vehicles.

[0235] It can be understood that after completing step S750, the process of forming the simulation test environment for the emergency vehicle avoidance related scenario is completed, or in other words, the process of determining the cooperative simulation vehicle in the emergency vehicle avoidance related scenario is completed.

[0236] Fig. 9 is based on Figure 8 The schematic diagram of the simulation test environment generated by the process shown in FIG. Fig. 9 As shown, the simulated road section 810 is the simulated road of the test section; the lane 811 is the same lane in the same direction behind the simulated vehicle C, and the lane 812 is the same lane in the same direction behind the simulated vehicle C.

[0237] In some embodiments, Figure 8 and Fig. 9 The corresponding emergency vehicle avoidance-related scenario may be a V2V emergency vehicle reminder scenario, in which case the vehicles need to interact through the OBU; therefore, the simulated vehicle EV5 is a simulated networked vehicle, that is, the simulated vehicle EV5 is provided with a simulated OBU, and the simulated vehicle C is also provided with a simulated onboard unit (or simulated OBU) 820. Since the simulated OBU provided on the simulated vehicle EV5 is simulated by the service platform; therefore, after the OBU on the test vehicle sends information to the service platform, the service platform can forward the information to the simulated OBU on the simulated vehicle EV5, thereby simulating the interaction between the test vehicle OBU and the simulated OBU of the simulated vehicle EV5.

[0238] For example, in Fig. 9After the simulation test environment shown is generated, the OBU of the test vehicle displays the simulation test environment on the terminal device in the test vehicle; the OBU of the test vehicle can obtain the position information and speed information of the simulated vehicle EV5 (i.e., the emergency vehicle). The OBU of the test vehicle can perform corresponding calculations based on its own position information and speed information, as well as the position information and speed information of the simulated vehicle EV5, and thus display to the driver: reminder information for avoiding the emergency vehicle, the distance of the simulated vehicle EV5, the speed of the simulated vehicle EV5, etc.

[0239] In some other embodiments, Figure 8 and Fig. 9 The corresponding emergency vehicle avoidance-related scenario can be a V2I collaborative priority vehicle passage scenario. The intelligent transportation system dispatches traffic resources to take collaborative methods such as reserving lanes in advance, closing roads, or switching traffic lights for priority vehicles.

[0240] In this case, the service platform simulates the intelligent transportation system and sends instruction information to the roadside unit to reserve lanes in advance. After receiving the instruction information, the roadside unit broadcasts instructions to avoid the lane where the emergency vehicle is located. The OBU of the test vehicle receives and displays the instruction information to avoid the lane where the emergency vehicle is located. The driver changes lanes according to the instruction information to avoid the lane where the emergency vehicle is located and the simulated test environment to make way for the emergency vehicle.

[0241] It should be understood that the instruction information corresponding to the simulated emergency vehicle in the simulation test process in the embodiment of the present application can be the instruction information sent by the service platform to the roadside unit to reserve the lane in advance. The emergency vehicle prompt information can be the instruction information of the lane where the emergency vehicle is located as described above.

[0242] Understandably, Fig. 9 What is shown is only one type of simulation test environment for emergency vehicle avoidance-related scenarios. The simulation test environment for emergency vehicle avoidance-related scenarios may also be in other forms, which will not be elaborated in this application.

[0243] Fig.10 The figure is a schematic diagram of the process of determining the cooperative simulated vehicle in the cooperative lane change scenario in one embodiment of the present application, wherein the simulated vehicle D is the simulated vehicle corresponding to the test vehicle.

[0244] like Fig.10 As shown, the process of generating a simulation test environment for a cooperative lane change scenario may include: S910 to S950.

[0245] Step S910, determine whether there is a simulated vehicle EV6 within X meters of the adjacent lane in the same direction behind the simulated vehicle D; if the judgment is no, jump to step S920; if the judgment is yes, jump to step S950.

[0246] It should be understood that X meters is a preset distance range threshold, and the size of X can be set as needed, and this application does not impose any limitation on this.

[0247] In some embodiments, X may be 50. Of course, X may also be other values, which will not be described in detail here.

[0248] It can be understood that there is a simulated vehicle EV6 within X meters in the adjacent lane in the same direction behind the simulated vehicle D. It can also be said that the simulated vehicle EV6 is located in the adjacent lane in the same direction behind the simulated vehicle D and the distance between the simulated vehicle EV6 and the simulated vehicle D is less than or equal to X meters.

[0249] In some embodiments, when there is only one other simulated vehicle within X meters in the adjacent lane in the same direction behind the simulated vehicle D, the other simulated vehicle is regarded as the simulated vehicle EV6.

[0250] In some other embodiments, when there are multiple other simulated vehicles within X meters of the adjacent lane in the same direction behind the simulated vehicle D, the one of the multiple other simulated vehicles closest to the simulated vehicle D may be used as the simulated vehicle EV6.

[0251] Step S920, determine whether there is a simulated vehicle EV6 within X meters of the same-direction non-adjacent lane behind the simulated vehicle D; if the determination is no, jump to step S930; if the determination is yes, jump to step S940.

[0252] It can be understood that when there is no simulated vehicle within X meters in the same direction and lane behind the simulated vehicle D, it means that the simulated vehicle EV6 cannot be obtained by simple adjustment near the simulated vehicle D. Therefore, it is judged whether there is a simulated vehicle EV6 within X meters in the same direction but not in the same lane behind the simulated vehicle D, which increases the probability of obtaining the simulated vehicle EV6 through adjustment.

[0253] Step S930: Create a simulated vehicle EV6 in the adjacent lane behind the simulated vehicle D in the same direction.

[0254] It can be understood that when there is no simulated vehicle within X meters in the same direction and lane behind the simulated vehicle D, and there is no simulated vehicle within X meters in the same direction but not in the same lane behind the simulated vehicle D, it means that the simulated vehicle EV6 cannot be obtained by simple adjustment near the rear of the simulated vehicle D. Therefore, the simulated vehicle EV6 is created in the adjacent lane in the same direction behind the simulated vehicle D and at a distance of X meters from the simulated vehicle D. By creating the simulated vehicle, it can be ensured that the simulation test environment can be smoothly formed.

[0255] Step S940: Control the simulated vehicle EV6 to change lanes to the same direction and adjacent lane behind the simulated vehicle D.

[0256] It should be understood that the simulated vehicle EV6 may change lanes once or multiple times to change lanes to the same direction and adjacent lane behind the simulated vehicle D, which will not be elaborated in this application.

[0257] Step S950: adjusting the speed of the simulated vehicle EV6 to a fourth speed value, which is greater than the speed of the simulated vehicle D.

[0258] It can be understood that in this scenario, the simulated vehicle D (or test vehicle D) needs to change lanes to an adjacent lane in the same direction, and the simulated vehicle EV6 is located behind the simulated vehicle D in the same direction and adjacent lane, and the fourth speed value is greater than the speed of the simulated vehicle D. Therefore, if the simulated vehicle D wants to change lanes safely to the adjacent lane, it needs the cooperation of the simulated vehicle EV6.

[0259] It can be understood that after completing step S950, the process of forming the simulation test environment of the cooperative lane change scenario is completed, or in other words, the process of determining the cooperative simulation vehicle in the cooperative lane change scenario is completed.

[0260] Fig.11 is based on Fig.10 A schematic diagram of a simulation test environment generated by the process shown in FIG. Fig.11 As shown, the simulated road section 1010 is the simulated road of the test section; the lane 1011 is the adjacent lane in the same direction behind the simulated vehicle D, and the lane 1012 is the same lane in the same direction behind the simulated vehicle D (or can also be called a non-adjacent lane in the same direction behind).

[0261] In some embodiments, Fig.10 and Fig.11 The corresponding cooperative lane change scenario can be a V2V vehicle-to-vehicle cooperative lane change scenario. In this case, the vehicles need to interact through the OBU; therefore, the simulated vehicle EV6 is a simulated networked vehicle, that is, the simulated vehicle EV6 is provided with a simulated OBU, and the simulated vehicle D is also provided with a simulated on-board unit (or simulated OBU) 1020. Since the simulated OBU provided on the simulated vehicle EV6 is simulated by the service platform; therefore, after the OBU on the test vehicle sends information to the service platform, the service platform can forward the information to the simulated OBU on the simulated vehicle EV6, so as to realize the simulation of the interaction between the OBU of the test vehicle and the simulated OBU of the simulated vehicle EV6.

[0262] For example, in Fig.11After the simulation test environment shown is formed, the OBU of the test vehicle displays the simulation test environment on the terminal device in the test vehicle; the OBU of the test vehicle sends the driving intention information (i.e., changing lanes to lane 1011) to the service platform, and the service platform can forward the driving intention information to the simulation OBU on the simulation vehicle EV6. After receiving the driving intention information, the simulation OBU on the simulation vehicle EV6 adjusts the driving behavior according to its own situation, so that the test vehicle can safely complete the lane change or delay the lane change.

[0263] In some other embodiments, Fig.10 and Fig.11 The corresponding cooperative lane change scenario can be a V2I vehicle-road cooperative lane change scenario. The OBU of the test vehicle sends the driving intention information (i.e., changing lanes to lane 1011) to the roadside unit. The roadside unit sends the dispatch information to the service platform based on the driving intention information. The service platform forwards the dispatch information to the simulated OBU on the simulated vehicle EV6. After receiving the dispatch information, the simulated OBU on the simulated vehicle EV6 adjusts its driving behavior according to its own situation, so that the test vehicle can safely complete the lane change or delay the lane change.

[0264] It can be understood that the second dispatch information in the embodiment of the present application can be the dispatch information sent by the roadside unit to the service platform according to the driving intention information as mentioned above.

[0265] Understandably, Fig.11 What is shown is only one type of simulation test environment for a collaborative lane change scenario. The simulation test environment for a collaborative lane change scenario may also be in other forms, which will not be elaborated in this application.

[0266] Fig.12 The figure is a flow chart of the simulation test environment determination process for the collision warning scenario for vulnerable traffic participants in one embodiment of the present application, wherein the simulation vehicle E is the simulation vehicle corresponding to the test vehicle.

[0267] like Fig.12 As shown, the process of forming a simulation test environment for a vulnerable traffic participant collision warning scenario may include: S1110 to S1150.

[0268] Step S1110: Is there a simulated vehicle EV7 in the same direction but not in the same lane within X meters in front of the simulated vehicle E? If it is determined to be no, jump to step S1120; if it is determined to be yes, jump to step S1130.

[0269] It should be understood that X meters is a preset distance range threshold, and the size of X can be set as needed, and this application does not impose any limitation on this.

[0270] In some embodiments, X may be 50. Of course, X may also be other values, which will not be described in detail here.

[0271] It can be understood that there is a simulated vehicle EV7 within X meters in the same direction but not in the same lane ahead of the simulated vehicle E. It can also be said that the simulated vehicle EV7 is located in the same direction but not in the same lane ahead of the simulated vehicle E and the distance between the simulated vehicle EV7 and the simulated vehicle E is less than or equal to X meters.

[0272] In some embodiments, when there is only one other simulated vehicle within X meters in the same direction but not in the same lane ahead of the simulated vehicle E, the other simulated vehicle is regarded as the simulated vehicle EV7.

[0273] In some other embodiments, when there are multiple other simulated vehicles within X meters in the same direction but not in the same lane ahead of the simulated vehicle E, the one closest to the simulated vehicle E among the multiple other simulated vehicles may be used as the simulated vehicle EV7.

[0274] In some embodiments, the non-same lane in the same direction ahead of the simulated vehicle E is the lane to the right of the lane where the simulated vehicle E is located; of course, the non-same lane in the same direction ahead of the simulated vehicle E may also be the lane to the left of the lane where the simulated vehicle E is located. The specific position of the non-same lane in the same direction ahead of the simulated vehicle E is related to the total number of one-way lanes and the lane where the simulated vehicle is located, and this application will not elaborate on this.

[0275] Step S1120: Create a simulated vehicle EV7 in front of the simulated vehicle E in the same direction but not in the same lane and at a distance of X meters from the simulated vehicle E.

[0276] It can be understood that when there is no simulated vehicle within X meters in the same direction but not in the same lane in front of the simulated vehicle E, it means that the simulated vehicle EV7 cannot be obtained by simple adjustment near the simulated vehicle E. Therefore, the simulated vehicle EV7 is created in the same direction but not in the same lane behind the simulated vehicle E and at a distance of X meters from the simulated vehicle E. By creating the simulated vehicle, it can be ensured that the simulation test environment can be smoothly formed.

[0277] Step S1130: Control the simulated vehicle EV7 to decelerate to a stop in the lane where it is located.

[0278] Step S1140: The simulated vehicle E drives to a position that is a fourth preset distance behind the simulated vehicle EV7.

[0279] In some embodiments, the fourth preset distance is 10 meters. The size of the fourth preset distance can be set as needed, and this application does not limit or elaborate on this.

[0280] Step S1150: creating a vulnerable traffic participant P within a first distance range in front of the simulated vehicle EV7, and the vulnerable traffic participant P crosses the target simulated road section at a fifth speed value.

[0281] In some embodiments, the first distance range is 5 meters to 10 meters, that is, the distance between the vulnerable traffic participant P and the simulation vehicle EV7 is any distance value between 5 meters to 10 meters.

[0282] Exemplarily, when the vulnerable traffic participant P is a pedestrian, the fifth speed value is between 5 km / h and 10 km / h.

[0283] It should be understood that the fifth speed value of the vulnerable traffic participant P can be set as needed, for example, it can be determined according to the specific type of the vulnerable traffic participant P, and this application does not limit or elaborate on this.

[0284] It can be understood that step S1130 and step S1150 simulate the situation of creating a vulnerable traffic participant P crossing the target simulated road section. In this embodiment, the vulnerable traffic participant P is a pedestrian, and in other embodiments, the vulnerable traffic participant can also be a bicycle, an electric vehicle, or a tricycle, etc. This application does not limit the specific type of vulnerable traffic participants.

[0285] It can be understood that after completing step S1150, the process of forming the simulation test environment of the vulnerable traffic participant collision warning scenario is completed, or the process of determining the cooperative simulation vehicle in the vulnerable traffic participant collision warning scenario is completed.

[0286] Fig.13 is based on Fig.12 The schematic diagram of the simulation test environment generated by the process shown in FIG. Fig.13 As shown, the simulated road section 1210 is the simulated road of the test section; the lane 1211 is the non-adjacent lane in the same direction in front of the simulated vehicle E, and the lane 1212 is the lane where the simulated vehicle E is located (or it can also be called the non-adjacent lane in the same direction behind).

[0287] In some embodiments, Fig.12 and Fig.13 The corresponding vulnerable traffic participant collision reminder scenario may be a V2I vehicle vulnerable traffic participant collision reminder scenario, and the simulated vehicle E is also provided with a simulated on-board unit (or simulated OBU) 1220 .

[0288] Understandably, Fig.13 What is shown is only one type of simulation test environment for the vulnerable traffic participant collision warning scenario. The simulation test environment for the vulnerable traffic participant collision warning scenario can also be in other forms, which will not be elaborated in this application.

[0289] Fig.14 The figure is a schematic diagram of the process of determining the cooperative simulated vehicle in the scenario where the roadside unit guides the vehicle to change lanes in one embodiment of the present application. The simulated vehicle F is the simulated vehicle corresponding to the test vehicle.

[0290] like Fig.14 As shown, the process of forming a simulation test environment for a scenario in which a roadside unit guides a vehicle to change lanes may include: S1310 to S1350.

[0291] Step S1310: Determine that the simulated vehicle F reaches a position Y meters away from the front intersection.

[0292] Exemplarily, the second preset distance may be 100 meters. The size of the second preset distance may be set as needed, and the present application does not impose any limitation on this.

[0293] Step S1320, setting a simulated traffic light at the intersection ahead, the status of the simulated traffic light is: the straight lane is a red light and the remaining time is a first preset time, and the left turn lane is a green light and the remaining time is a second preset time.

[0294] Exemplarily, the first preset time length is 100 seconds, and the second preset time length is 80 seconds; the first preset time length and the second preset time length can be set as needed, and this application does not impose any restrictions on this.

[0295] Step S1330, determine whether there is at least one simulated vehicle EV8 within Y meters on the straight lane in front of the simulated vehicle F; if the judgment is no, jump to step S1340, if the judgment is yes, jump to step S1350.

[0296] It should be understood that Y meters is a preset distance range threshold, and the size of Y can be set as needed, and this application does not impose any restrictions on this.

[0297] In some embodiments, Y may be 100. Of course, Y may also be other values, which will not be described in detail here.

[0298] It can be understood that there is at least one simulated vehicle EV8 within Y meters of the straight lane in front of the simulated vehicle F. In other words, at least one simulated vehicle EV8 is located in the straight lane in front of the simulated vehicle F and the distance between the simulated vehicle EV8 and the simulated vehicle F is less than or equal to Y meters.

[0299] In some embodiments, when there is only one other simulated vehicle within Y meters of the straight lane in front of the simulated vehicle F, the other simulated vehicle is regarded as the simulated vehicle EV8.

[0300] In some other embodiments, when there are multiple other simulated vehicles within Y meters in the adjacent lane in the same direction behind the simulated vehicle F, each of the multiple other simulated vehicles is a simulated vehicle EV8.

[0301] Step S1340: Create at least one simulated vehicle EV8 on the straight lane in front of the simulated vehicle F.

[0302] It can be understood that when there is no simulated vehicle within Y meters of the straight lane in front of the simulated vehicle F, it means that the simulated vehicle EV8 cannot be obtained by simple adjustment near the rear of the simulated vehicle F. Therefore, at least one simulated vehicle EV8 is created in the straight lane in front of the simulated vehicle F. By creating at least one simulated vehicle EV8, it can be ensured that the simulation test environment can be smoothly formed.

[0303] Exemplarily, 2 to 3 simulated vehicles EV8 may be created in the straight lane in front of the simulated vehicle F.

[0304] Step S1350: Control at least one simulated vehicle EV8 to decelerate until it stops at the front intersection.

[0305] For example, assuming that there are two simulated vehicles EV8, the two simulated vehicles EV8 are parked in a queue at an intersection.

[0306] It can be understood that after completing step S1350, the process of generating the simulation test environment for the roadside unit-guided vehicle lane change driving scenario is completed, or in other words, the process of determining the collaborative simulation vehicle for the roadside unit-guided vehicle lane change driving scenario is completed.

[0307] Fig.15 is based on Fig.14 The schematic diagram of the simulation test environment generated by the process shown in Fig.15 As shown, the simulated road section 1410 is the simulated road of the test section; the lane 1411 is the straight lane in front of the simulated vehicle F, the simulated intersection 1420 is the intersection in front of the simulated vehicle F, and the simulated traffic light 1430 is created by the service platform after the simulated vehicle F arrives at a position Y meters away from the front intersection.

[0308] In some embodiments, Fig.14 and Fig.15 The corresponding roadside unit guides the vehicle to change lanes driving scenario, which can be a V2I roadside unit guides the vehicle to change lanes driving scenario, and the OBU of the test vehicle sends the driving information of the test vehicle to the roadside unit; the roadside unit generates scheduling information for the test vehicle to pass the intersection ahead based on the driving information of the test vehicle, the information of the simulated traffic light 1430, the driving information reported by the simulated vehicle EV8 to the simulated roadside unit 1450, and the roadside perception information (which can be obtained by the simulated roadside unit 1450 sensing the simulated road section 1410), and sends the scheduling information to the OBU of the test vehicle to guide the driver of the test vehicle to control the simulated vehicle F to pass the intersection by controlling the test vehicle.

[0309] It can be understood that the simulation information of the simulation test process in the embodiment of the present application may include the information of the simulated traffic light 1430 mentioned above, the driving information reported by the simulated vehicle EV8 to the simulated roadside unit 1450, and the roadside perception information; the first scheduling information may be the scheduling information sent by the roadside unit to the OBU of the test vehicle mentioned above.

[0310] Understandably, Fig.15 What is shown is only one type of simulation test environment for a scenario in which a roadside unit guides a vehicle to change lanes. The simulation test environment for a scenario in which a roadside unit guides a vehicle to change lanes may also be in other forms, which will not be elaborated in this application.

[0311] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0312] Corresponding to a scenario testing method of the above embodiment, Fig.16 A structural block diagram of a scene testing device provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0313] Reference Fig.16 , the scenario testing device 1600 includes: a determining unit 1610, a generating unit 1620 and a sending unit 1630, wherein: The determination unit 1610 is used to determine adjustment information of the driving environment of the test vehicle according to the target test scenario, where the adjustment information includes simulation information and / or scheduling information of the test participating vehicles, where the test participating vehicles are vehicles that do not specifically serve the target test scenario.

[0314] The generating unit 1620 is used to generate the test information according to the adjustment information and the driving environment of the test vehicle.

[0315] Sending unit 1630 is used to send test information to the roadside unit, the test vehicle and / or the test participating vehicle; the test information is used for: the tested vehicle to receive and parse, the roadside unit to generate a communication message with the test vehicle, and / or the test participating vehicle to generate a communication message with the test vehicle, and the communication message is used for the tested vehicle to receive and parse; wherein, the test information received and parsed by the tested vehicle, and / or the communication information received and parsed by the tested vehicle is used to: trigger the test vehicle to perform test items corresponding to the target test scenario.

[0316] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0317] Fig.17 A schematic diagram of the structure of a computer device 170 provided in an embodiment of the present application is shown in FIG. Fig.17 As shown, the computer device 170 of this embodiment includes: at least one processor 1700 ( Fig.17 Only one processor is shown in the figure), a memory 1701, and a computer program 1702 stored in the memory 1701 and executable on the at least one processor 1700, wherein the processor 1700 implements the steps of any of the above-mentioned method embodiments when executing the computer program 1702.

[0318] The computer device may include, but is not limited to, a processor 1700 and a memory 1701. Those skilled in the art will appreciate that Fig.17 This is merely an example of the computer device 170 and does not constitute a limitation on the computer device 170 . The computer device 170 may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc.

[0319] The processor 1700 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0320] The memory 1701 may be an internal storage unit in some embodiments, such as a hard disk or a memory. The memory 1701 may also be an external storage device in other embodiments, such as a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 1701 may also include both an internal storage unit and an external storage device. The memory 1701 is used to store an operating system, an application program, a boot loader (BootLoader), data, and other programs, such as the program code of the computer program, etc. The memory 1701 may also be used to temporarily store data that has been output or is to be output.

[0321] Those skilled in the art will understand that Fig.17 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0322] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0323] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned various scenario testing method embodiments are implemented.

[0324] An embodiment of the present application provides a computer program product. When the computer program product is run on a computer device, the steps in the above-mentioned various scenario testing method embodiments are implemented.

[0325] An embodiment of the present application provides a computer program product, which includes instructions for executing the scenario testing method in the above various method embodiments.

[0326] An embodiment of the present application further provides a chip, including: a processor, configured to call and run a computer program from a memory, so that a computer device equipped with the chip executes the steps in the above-mentioned various scenario testing method embodiments.

[0327] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0328] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0329] In the embodiments provided in the present application, it should be understood that the disclosed devices / equipment and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely schematic, for example, the division of the modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0330] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0331] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0332] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable storage medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable storage media do not include electric carrier signals and telecommunication signals.

[0333] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A scenario testing method, characterized in that: Applied to a service platform, the method comprises: The service platform determines adjustment information of the driving environment of the test vehicle according to the target test scenario, wherein the adjustment information includes simulation information and / or scheduling information of the test participating vehicles, wherein the test participating vehicles are vehicles that do not specifically serve the target test scenario; The service platform generates test information according to the adjustment information and the driving environment of the test vehicle; The service platform sends the test information to the roadside unit, the test vehicle and / or the test participating vehicle; the test information is used to: be received and parsed by the test vehicle, the roadside unit generates a communication message with the test vehicle, and / or the test participating vehicle generates a communication message with the test vehicle, and the communication message is used to be received and parsed by the test vehicle; wherein, the test information received and parsed by the test vehicle, and / or the communication information received and parsed by the test vehicle is used to: trigger the test vehicle to perform test items corresponding to the target test scenario.

2. The scenario testing method according to claim 1, characterized in that: The adjustment information includes the simulation information, and the simulation information includes: a target simulated vehicle and collaborative simulation objects located on a target simulation section; wherein: the target simulated vehicle is a simulated vehicle of the test vehicle, and the collaborative simulation objects include: simulation objects other than the target simulated vehicle required for the target test scenario; the target simulation section is a simulated section of the test section where the test vehicle is located; the position of the target simulated vehicle on the target simulation section corresponds to the position of the test vehicle on the test section.

3. The scenario testing method according to claim 2, characterized in that: The collaborative simulation object includes a collaborative simulation vehicle, and the service platform determines adjustment information of a driving environment of the test vehicle according to a target test scenario, including: The service platform obtains the target simulation vehicle and the target simulation road section according to the test vehicle and the test road section; The service platform determines the conditions that the collaborative simulation vehicle needs to meet according to the target test scenario; The service platform adjusts other simulated vehicles on the target simulation section according to the conditions that the collaborative simulation vehicle needs to meet to obtain the collaborative simulation vehicle, where the other simulated vehicles are simulated vehicles other than the target simulation vehicle on the target simulation section.

4. The scenario testing method according to claim 3, characterized in that: The scenario testing method further includes: When it is determined that the test of the target test scenario is completed, the service platform restores the speed of the other simulated vehicles after adjustment to the size before adjustment, and / or the service platform restores the type of the other simulated vehicles after adjustment to the type before adjustment.

5. A scenario testing method, characterized in that: Applied to testing vehicles, the scenario testing method includes: The test vehicle receives: test information sent by the service platform, communication information sent by the roadside unit, and / or communication information sent by the test participating vehicle; wherein the test information is generated by the service platform based on the adjustment information of the driving environment of the test vehicle and the driving environment of the test vehicle, the adjustment information of the driving environment of the test vehicle is determined by the service platform according to the target test scenario, the communication information sent by the roadside unit is generated by the roadside unit according to the test information sent by the service platform, and the communication information sent by the test participating vehicle is generated by the test participating vehicle according to the test information sent by the service platform; The test vehicle parses the test information sent by the service platform, the communication information sent by the roadside unit, and / or the communication information sent by the test participating vehicle to obtain a parsing result; The test vehicle triggers a test item of the test vehicle according to the analysis result, and the test item of the test vehicle corresponds to the target test scenario.

6. A scene testing device, characterized in that: The device comprises a unit for executing each step of the scenario testing method according to any one of claims 1 to 4, or the device comprises a unit for executing each step of the scenario testing method according to claim 5.

7. A scenario testing system, characterized in that: The system includes: a service platform, a roadside unit, a test vehicle and a test section, the test vehicle is located on the test section, the roadside unit is located on the roadside of the test section, the test vehicle is communicatively connected to the service platform, the roadside unit is communicatively connected to the test vehicle, and the roadside unit is communicatively connected to the service platform; wherein: the service platform is used to execute the scenario testing method described in any one of claims 1 to 4, and the test vehicle is used to execute the scenario testing method described in claim 5, so that the test vehicle performs a test of a target test scenario on the test section.

8. The scenario testing system according to claim 7, characterized in that: The system also includes a test participating vehicle, which is communicatively connected to the service platform and the test participating vehicle, and is used to receive test information issued by the service platform, and to generate a communication message with the test vehicle based on the received test information, and send the generated communication information to the test vehicle.

9. The scenario testing system according to claim 7, characterized in that: The test vehicle is a vehicle driven by a driver, the test process of the target test scenario is a simulation test process based on the driving behavior of the test vehicle on the test section, and the display module in the test vehicle displays the simulation test process of the target test scenario to the driver.

10. The scenario testing system according to claim 9, characterized in that: During the simulation test of the target test scenario, the roadside unit is used to implement at least one of the following steps: Acquire simulation information of the simulation test process from the service platform, acquire driving information of the test vehicle from the test vehicle, determine first scheduling information according to the simulation information of the simulation test process and the driving information of the test vehicle, and send the first scheduling information to the test vehicle; Acquire indication information corresponding to the simulated emergency vehicle in the simulation test process from the service platform, and send emergency vehicle prompt information to the test vehicle according to the indication information; or Acquire driving intention information of the test vehicle from the test vehicle, determine second scheduling information according to the driving intention information, and send the second scheduling information to the service platform.

11. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the scenario testing method described in any one of claims 1 to 4 is implemented, or when the processor executes the computer program, the scenario testing method described in claim 5 is implemented.

12. A computer-readable storage medium storing a computer program, characterized in that: The computer program implements the scenario testing method described in any one of claims 1 to 4 when executed by a processor, or implements the scenario testing method described in claim 5 when executed by a processor.

13. A computer program product, characterized in that When the computer program product runs on a computer device, it implements the scenario testing method described in any one of claims 1 to 4, or implements the scenario testing method described in claim 5.

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