Vehicle simulation processing method, device, equipment, medium and product

Abstract

The embodiment of the invention provides a vehicle simulation processing method and device, equipment, a medium and a product, and is suitable for the field of automatic driving. The method comprises the steps that a target vehicle located in a temporary parking area in a simulation environment can be determined; performing simulation processing on the target vehicle; in the simulation processing process, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is a following vehicle of the target vehicle; if the vehicle distance is smaller than the preset safety distance, first interaction control processing is executed on the first vehicle in the simulation processing process, and second interaction control processing is executed on the target vehicle; wherein the first interaction control processing is used for controlling the first vehicle to give way to the target vehicle; the second interaction control processing is used for controlling the target vehicle to move from the temporary parking area to the first lane. According to the invention, interaction control processing between the target vehicle and the following vehicle can be automatically realized, and the convenience and efficiency of simulation processing can be improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, in particular to autonomous driving technology, and specifically to a vehicle simulation processing method, a vehicle simulation processing device, a computer device, a computer-readable storage medium, and a computer program product. Background Art

[0002] In the field of smart transportation, in order not to block traffic, buses usually need to enter the bay bus station and park temporarily to facilitate picking up and dropping off passengers. After picking up and dropping off passengers, the bus needs to exit the bay bus station and merge into the main lane. Since buses need to merge into the main traffic on the side when leaving the station, it may have an impact on the main traffic. Therefore, the existing simulation platform requires manual setting of various yielding rules for buses when leaving the bay bus station and entering the main lane, such as setting virtual signs such as yielding, so that the bus can interact with other vehicles. This method of manually setting virtual signs will lead to low simulation efficiency. Summary of the invention

[0003] The embodiments of the present application propose a vehicle simulation processing method, device, equipment, medium and product, which can automatically realize interactive control processing between the target vehicle and the following vehicle according to the vehicle distance between the following vehicle and the target vehicle during the simulation of the target vehicle, thereby improving the convenience and efficiency of the simulation processing.

[0004] On the one hand, an embodiment of the present application provides a vehicle simulation processing method, wherein a simulation environment corresponding to the simulation processing method includes a first lane and a temporary parking area adjacent to the first lane; the method includes:

[0005] Determine the target vehicle located in the temporary parking area in the simulation environment; the target vehicle enters the temporary parking area from the first lane;

[0006] The target vehicle is simulated; the simulation process is used to instruct the target vehicle to move out of the temporary parking area and into the first lane;

[0007] During the simulation process, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane;

[0008] If the vehicle distance is less than the preset safety distance, the first interactive control process is performed on the first vehicle and the second interactive control process is performed on the target vehicle during the simulation process; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane.

[0009] On the one hand, an embodiment of the present application provides a vehicle simulation processing device, wherein a simulation environment corresponding to the simulation processing device includes a first lane and a temporary parking area adjacent to the first lane; the device includes:

[0010] A determination unit is used to determine a target vehicle located in the temporary parking area in the simulation environment; the target vehicle enters the temporary parking area from the first lane;

[0011] A processing unit is used to perform simulation processing on the target vehicle; the simulation processing process is used to instruct the target vehicle to move out of the temporary parking area into the first lane;

[0012] An acquisition unit is used to acquire a vehicle distance between a first vehicle in the first lane and a target vehicle during the simulation process; the first vehicle is a following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle and adjacent to the target vehicle in the first lane before the target vehicle enters the temporary parking area from the first lane;

[0013] The processing unit is also used to perform a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation process if the vehicle distance is less than a preset safety distance; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane.

[0014] In a possible implementation, the simulation process includes a first simulation stage, the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the first simulation stage; the first interactive control process includes a lane change courtesy process or a deceleration courtesy process; the processing unit performs the first interactive control process on the first vehicle and the second interactive control process on the target vehicle during the simulation process, for performing the following operations:

[0015] In the first simulation stage, the first vehicle is changed from the first lane to the second lane according to a first preset probability; or the first vehicle in the first lane is decelerated and courteously handled according to a second preset probability; and

[0016] In the first simulation stage, a movement simulation process is performed on the target vehicle according to a specified moving direction, so as to move the target vehicle from an initial position in the temporary parking area to a specified position in the temporary parking area.

[0017] In a possible implementation, the simulation processing process further includes a second simulation stage, and the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the second simulation stage; the processing unit performs a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation processing, for performing the following operations:

[0018] In the second simulation stage, the waiting time of the target vehicle at the designated position is obtained, and the first interactive control process is performed on the first vehicle according to the waiting time of the target vehicle; and,

[0019] In the second simulation stage, the target vehicle is moved from the designated position of the temporary parking area to the first lane according to the mobile simulation strategy;

[0020] Among them, the first interactive control processing is used to indicate: the longer the waiting time of the target vehicle, the greater the probability of executing the first interactive control processing on the first vehicle, and the probability includes the first preset probability of lane change courtesy processing or the second preset probability of speed reduction courtesy processing.

[0021] In a possible implementation, the simulation process includes a first simulation stage and a second simulation stage; the processing unit is further configured to perform the following operations:

[0022] When the first simulation phase for the target vehicle is finished, determining whether the target vehicle at the designated position meets the lane change safety condition of the first lane, and obtaining a determination result;

[0023] According to the judgment result, the moving simulation strategy of the target vehicle in the second simulation stage is determined.

[0024] In a possible implementation, the specified moving direction is used to indicate a heading angle between the driving direction of the target vehicle in the first simulation phase and the main line driving direction of the road to which the target vehicle belongs; and the processing unit is further used to perform the following operations:

[0025] Obtaining a first simulation duration of a first simulation phase and a longitudinal acceleration of a target vehicle;

[0026] Determine the lateral displacement of the target vehicle from an initial position within the temporary parking area to a designated position within the temporary parking area;

[0027] Calculate the lateral terminal velocity of the target vehicle at the specified position according to the first simulation time and the lateral displacement;

[0028] Calculate the longitudinal terminal speed of the target vehicle at the specified position according to the first simulation duration and the longitudinal acceleration;

[0029] Based on the lateral terminal speed and the longitudinal terminal speed of the target vehicle, determine the driving direction of the target vehicle in the first simulation stage and the heading angle between the driving direction of the main line of the road to which the target vehicle belongs;

[0030] In a possible implementation, the processing unit determines the lateral displacement of the target vehicle moving from the initial position in the temporary parking area to the specified position in the temporary parking area for performing the following operations:

[0031] Obtain the vehicle width of the target vehicle and the lane width corresponding to the temporary parking area;

[0032] Calculate the difference between the vehicle width and the lane width, and determine half of the difference as the first lateral displacement corresponding to the target vehicle;

[0033] Obtain the specified second lateral displacement within the temporary parking area, and the second lateral displacement is less than the first lateral displacement;

[0034] Determine the displacement range of the target vehicle based on the second lateral displacement and the first lateral displacement, and determine the lateral displacement of the target vehicle at the specified position according to the displacement range.

[0035] In a possible implementation, the processing unit determines whether the target vehicle located at the specified position meets the lane-changing safety conditions of the first lane, and obtains a judgment result for performing the following operations:

[0036] Obtain the first distance between the target vehicle and the first vehicle in the first lane; and,

[0037] Obtain the second distance between the target vehicle and the second vehicle in the first lane;

[0038] If the first distance is greater than the first safety threshold and the second distance is greater than the second safety threshold, then determine that the judgment result is that the target vehicle meets the lane-changing safety conditions of the first lane;

[0039] If the first distance is not greater than the first safety threshold or the second distance is not greater than the second safety threshold, then determine that the judgment result is that the target vehicle does not meet the lane-changing safety conditions of the first lane.

[0040] In a possible implementation, the movement simulation strategy includes a first simulation sub-strategy and a second simulation sub-strategy; the processing unit determines the movement simulation strategy of the target vehicle in the second simulation stage according to the judgment result for performing the following operations:

[0041] If the target vehicle meets the lane-changing safety condition of the first lane, the movement simulation strategy of the target vehicle in the second simulation phase is determined to be the first simulation sub-strategy; the first simulation sub-strategy is used to instruct the target vehicle to immediately move from the specified position to the first lane at the end of the simulation of the first simulation phase;

[0042] If the target vehicle does not meet the lane changing safety conditions of the first lane, the moving simulation strategy of the target vehicle in the second simulation stage is determined to be the second simulation sub-strategy; the second simulation sub-strategy is used to indicate that the target vehicle needs to stop and wait at the end of the simulation of the first simulation stage, and move from the specified position to the first lane after stopping and waiting.

[0043] In a possible implementation, when the mobile simulation strategy is the first simulation sub-strategy, the first simulation sub-strategy is used to stipulate that the second simulation duration of the target vehicle in the second simulation stage is divided into Tic simulation steps, and the first simulation sub-strategy is used to stipulate that the target vehicle is simulated to move in a lateral direction and a longitudinal direction respectively; Tic is a positive integer; the processing unit moves the target vehicle from the designated position of the temporary parking area to the first lane according to the mobile simulation strategy, and performs the following operations:

[0044] Calling the car-following algorithm model, based on the driving state of the first vehicle in the first lane, determines the longitudinal speed and longitudinal acceleration of the target vehicle in the longitudinal direction in each simulation step;

[0045] Determine the initial state parameters and the final state parameters of the target vehicle in the lateral direction;

[0046] According to the initial state parameters and the final state parameters, the lateral velocity and lateral acceleration of the target vehicle in the lateral direction in each simulation step are calculated by calling the fifth-order polynomial;

[0047] Determine the moving trajectory of the target vehicle in the second simulation stage according to the longitudinal velocity, longitudinal acceleration, lateral velocity, and lateral acceleration of the target vehicle in each simulation step;

[0048] According to the moving trajectory, the target vehicle is moved from the specified position to the first lane within Tic simulation steps.

[0049] In a possible implementation, the processing unit determines the initial state parameters and the final state parameters of the target vehicle in the lateral direction, and performs the following operations:

[0050] Obtaining the lateral displacement of the target vehicle in the first simulation stage, and the lateral terminal velocity and lateral acceleration of the target vehicle at the end of the first simulation stage;

[0051] Determining the lateral displacement, lateral terminal velocity, and lateral acceleration of the target vehicle as initial state parameters of the target vehicle in the lateral direction; and,

[0052] Based on the lane width corresponding to the road to which the target vehicle belongs, the terminal state parameters of the target vehicle in the lateral direction are determined.

[0053] In a possible implementation, when the mobile simulation strategy is the second simulation sub-strategy, the second simulation sub-strategy is used to specify a time threshold for the target vehicle to stop and wait at a specified position; the processing unit moves the target vehicle from the specified position to the first lane according to the mobile simulation strategy, and performs the following operations:

[0054] Get the waiting time that the target vehicle has been waiting at the specified location;

[0055] Acquire a first safety threshold between the target vehicle and a first vehicle in the first lane, and a second safety threshold between the target vehicle and a second vehicle in the first lane;

[0056] Determine whether the target vehicle meets the lane change safety condition at the current moment according to the waiting time, the time threshold, the first safety threshold and the second safety threshold;

[0057] If so, in the second simulation phase, the target vehicle is moved from the designated position to the first lane according to the second simulation sub-strategy.

[0058] In a possible implementation, the processing unit is further configured to perform the following operations:

[0059] If the target vehicle does not meet the lane change safety condition at the current moment, and the waiting time of the target vehicle is greater than or equal to the time threshold, then determine whether there is a side vehicle associated with the target vehicle in the first lane;

[0060] If not, in the second simulation stage, the target vehicle is moved from the specified position to the first lane according to the second simulation sub-strategy.

[0061] In a possible implementation, the second simulation duration of the second simulation phase is divided into Tic simulation steps, and any simulation step corresponds to a simulation angle; the second simulation strategy is used to indicate: in the second simulation phase, the target vehicle is subjected to a moving simulation process according to the moving direction indicated by the simulation angle of each simulation step; wherein the simulation angle refers to: the angle between the geometric longitudinal axis of the target vehicle and the center line of the lane to which the target vehicle belongs; the processing unit is further used to perform the following operations:

[0062] Determine the longitudinal vector corresponding to the target vehicle at the t-th simulation step based on the longitudinal termination speed of the target vehicle at the end of the first simulation phase and the longitudinal speed corresponding to the target vehicle at the t-th simulation step;

[0063] Determine the lateral vector corresponding to the target vehicle at the t-th simulation step based on the lateral termination speed of the target vehicle at the end of the first simulation phase and the lateral speed corresponding to the target vehicle at the t-th simulation step;

[0064] Calculate the target angle corresponding to the target vehicle at the t-th simulation step according to the longitudinal vector and the lateral vector, where 1 ≤ t ≤ Tic.

[0065] In a possible implementation, the processing unit determines the lateral vector corresponding to the target vehicle at the t-th simulation step based on the lateral termination speed of the target vehicle at the end of the first simulation phase and the lateral speed corresponding to the target vehicle at the t-th simulation step, and is used to perform the following operations:

[0066] Determine the lateral correction speed per unit time according to the lateral termination speed of the target vehicle at the end of the first simulation phase and the second simulation duration;

[0067] Calculate the correction speed corresponding to the t-th simulation step based on the lateral correction speed per unit time;

[0068] Calculate the sum speed between the lateral termination speed of the target vehicle and the lateral speed corresponding to the t-th simulation step; and,

[0069] Take the difference between the sum speed and the correction speed corresponding to the t-th simulation step as the lateral vector corresponding to the target vehicle at the t-th simulation step.

[0070] On the one hand, an embodiment of the present application provides a computer device, which includes a processor, an input device, an output device, and a memory; a computer program is stored in the memory; when the computer program is executed by the processor, the above vehicle simulation processing method is executed.

[0071] On the one hand, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by the processor, the above vehicle simulation processing method is executed.

[0072] On the one hand, an embodiment of the present application provides a computer program product, which includes a computer program, and when the computer program is executed by the processor, the above vehicle simulation processing method is executed.

[0073] In an embodiment of the present application, a simulation environment includes a first lane and a temporary parking area adjacent to the first lane, and a target vehicle located in the temporary parking area in the simulation environment can be determined, and the target vehicle enters the temporary parking area from the first lane; a simulation process is performed on the target vehicle, and the simulation process here is used to indicate that the target vehicle is driven out of the temporary parking area and into the first lane; and in the process of the simulation process, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane; if the vehicle distance is less than the preset safety distance, a first interactive control process is performed on the first vehicle during the simulation process, and a second interactive control process is performed on the target vehicle; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane. It can be seen that during the simulation processing, interactive control processing can be performed on the first vehicle and the target vehicle respectively according to the vehicle distance between the first vehicle and the target vehicle, that is, automatic interaction between the first vehicle and the target vehicle can be achieved according to their respective driving states, without the need to manually set virtual signs for the vehicles, so that the present application can improve the convenience and efficiency of the simulation processing; further, since the interaction between vehicles can be automatically achieved according to the distance between the vehicles, the simulation process can more accurately reproduce the real scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technical objects in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0075] Figure 1 It is a schematic diagram of a topological structure of a simulation environment provided in an embodiment of the present application;

[0076] Figure 2 It is a schematic diagram of the architecture of a vehicle simulation processing system provided in an embodiment of the present application;

[0077] Figure 3 It is a flow chart of a vehicle simulation processing method provided in an embodiment of the present application;

[0078] Figure 4 This is a schematic diagram of the structure of a bay-type bus station provided in an embodiment of the present application;

[0079] Figure 5 It is a schematic diagram of a lane changing process of a target vehicle provided in an embodiment of the present application;

[0080] Figure 6 is a schematic diagram of a simulation process of a first vehicle provided in an embodiment of the present application;

[0081] Figure 7a is a schematic diagram of a process for determining a heading angle provided in an embodiment of the present application;

[0082] Figure 7b is a schematic diagram of a front and rear safety clearance of a target vehicle provided in an embodiment of the present application;

[0083] Figure 8 It is a flow chart of a simulation process of a target vehicle provided in an embodiment of the present application;

[0084] Fig. 9 is a structural schematic diagram of a vehicle simulation processing device provided in an embodiment of the present application;

[0085] Fig.10 It is a structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0086] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0087] The present application provides a vehicle simulation processing solution that is suitable for autonomous driving scenarios in the field of smart transportation. During the simulation processing, the solution can perform interactive control processing on the first vehicle and the target vehicle according to the vehicle distance between the target vehicle and the following vehicle (i.e., the first vehicle). There is no need to manually set virtual signs for the vehicles, so that the interaction between vehicles can be automatically completed according to the driving status between the vehicles, thereby improving the efficiency of the simulation processing. Specifically, the general principle of this scheme is as follows: a target vehicle located in the temporary parking area in a simulation environment can be determined, and the target vehicle enters the temporary parking area from the first lane; a simulation process is performed on the target vehicle, and the simulation process here is used to instruct the target vehicle to drive out of the temporary parking area into the first lane; and in the process of the simulation process, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to the vehicle that is located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane; if the vehicle distance is less than the preset safety distance, a first interactive control process is performed on the first vehicle during the simulation process, and a second interactive control process is performed on the target vehicle; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane. It can be seen that during the simulation processing, interactive control processing can be performed on the first vehicle and the target vehicle respectively according to the vehicle distance between the first vehicle and the target vehicle, so that automatic interaction between the first vehicle and the target vehicle can be achieved according to the driving status of the vehicles. There is no need to manually set virtual signs for the vehicles, thereby improving the convenience and efficiency of the simulation processing, and more accurately reproducing the real vehicle interaction scene.

[0088] The key technical terms involved in this application are introduced in detail below.

[0089] 1. Simulation environment.

[0090] The simulation environment refers to the virtual environment in which the simulation process is located. The so-called virtual environment is a software environment or hardware environment that is opposite to the real environment and is used to simulate the real scenes that can be presented in the real environment; the simulation process can include vehicle simulation process, game simulation process and other scenes. The following takes the vehicle simulation process scene as an example to explain the simulation environment involved in this application in detail. Please refer to Figure 1 , Figure 1 Schematic diagram of the topological structure of a simulation environment provided in an embodiment of the present application. Figure 1As shown, the simulation environment includes: a first lane, a second lane and a temporary parking area, wherein the first lane and the second lane are adjacent lanes to each other, that is, the first lane is an adjacent lane of the second lane, and the second lane is also an adjacent lane of the first lane; in addition, the temporary parking area is adjacent to the first lane, and the so-called temporary parking area refers to an area used for temporary parking of the target vehicle. In this simulation environment, the first lane and the second lane may include one or more vehicles, and these vehicles may travel in the main line driving direction indicated by the road, where the main line driving direction refers to the direction from upstream to downstream. The temporary parking area is used for temporary parking of the target vehicle. During the driving process of the target vehicle, the target vehicle can drive from the first lane into the temporary parking area, and drive out from the temporary parking area to the first lane.

[0091] 2. The target vehicle and the first vehicle.

[0092] The target vehicle refers to the vehicle that can enter the temporary parking area in the simulation environment. The target vehicle is allowed to be temporarily parked in the temporary parking area. The target vehicle can be any type of vehicle. For example, if the target vehicle is a bus, the temporary parking area is used for temporary passenger drop-off or pick-up of the bus; if the target vehicle is a fire truck, the temporary parking area can be used for temporary parking of the fire truck during firefighting operations; if the target vehicle is a faulty vehicle, the temporary parking area can be used for temporary parking of the faulty vehicle when the vehicle breaks down, and so on.

[0093] The first vehicle refers to the vehicle following the target vehicle, and the following vehicle refers to the vehicle that is located behind the target vehicle and adjacent to the target vehicle in the first lane before the target vehicle enters the temporary parking area from the first lane. Figure 1 In the simulation environment shown, each vehicle can be projected onto the first lane along the body contour in the st coordinate system, and the projection here specifically includes the head projection and the tail projection. Then, when the body contour of the target vehicle is projected onto the first lane in the st coordinate system, the following vehicle of the target vehicle refers to the first vehicle whose entire body is upstream of the tail projection of the target vehicle and counted upstream from the tail projection of the target vehicle. The main line driving direction indicated by the simulation environment is used to indicate the direction from upstream to downstream.

[0094] 3. Vehicle distance.

[0095] As the name implies, vehicle distance refers to the distance between vehicles. In the simulation environment, the vehicle distance between any two vehicles (for example, vehicle 1 and vehicle 2, assuming that vehicle 1 is downstream of vehicle 2) refers to the straight-line distance between the rear projection of vehicle 1 and the head projection of vehicle 2 in the st coordinate system. Figure 1As shown, when the vehicle distance is used to indicate the distance between the first vehicle and the target vehicle, the vehicle distance refers to the straight-line distance (ie, L) between the head projection of the first vehicle and the tail projection of the target vehicle.

[0096] 4. Smart transportation.

[0097] Intelligent Traffic System (ITS), also known as Intelligent Transportation System, is an effective and comprehensive application of advanced science and technology (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) to transportation, service control and vehicle manufacturing, strengthening the connection between vehicles, roads and users, thus forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment and saves energy. Or; Intelligent Vehicle Infrastructure Cooperative System (IVICS), referred to as vehicle-infrastructure cooperative system, is a development direction of intelligent transportation system (ITS). Vehicle-infrastructure cooperative system adopts advanced wireless communication and new generation Internet technologies to implement dynamic real-time information interaction between vehicles and roads in all directions, and carries out active vehicle safety control and road cooperative management based on the collection and integration of dynamic traffic information in all time and space, fully realizing the effective coordination of people, vehicles and roads, ensuring traffic safety and improving traffic efficiency, thus forming a safe, efficient and environmentally friendly road traffic system.

[0098] The vehicle simulation processing scheme proposed in this application can be applied to the autonomous driving scenarios in the field of smart transportation. Specifically, the driving behavior of vehicles on the road can be simulated based on the above-mentioned simulation environment, so that based on the vehicle distance between vehicles, the automatic interaction between vehicles can be realized according to the driving status of the vehicles, without the need to manually set virtual signs for the vehicles, which can improve the efficiency of vehicle simulation processing. In addition, the scene where vehicles automatically complete the interaction according to the driving status of the vehicles can more realistically and accurately reproduce the real scene in the field of smart transportation, so that it can provide services for traffic analysis and autonomous driving simulation testing in the field of smart transportation more accurately and conveniently.

[0099] 5. Cloud technology.

[0100] The vehicle simulation processing scheme proposed in this application involves more data computing services and data storage services, so a lot of computer operating costs are required. Then, cloud technology can be used to provide data computing services and data storage services for this scheme, so as to better simulate the vehicle. Specifically, the process of the target vehicle driving out of the temporary parking area to the first lane can be simulated based on the data computing service; and the vehicle distance obtained during the simulation can be stored based on the data storage service. Among them, the so-called cloud technology is a general term for network technology, information technology, integration technology, management platform technology, application technology, etc. based on the cloud computing business model application, which can form a resource pool, which is used on demand and is flexible and convenient. Among them, cloud technology can include cloud storage technology. The so-called cloud storage is a new concept extended and developed from the concept of cloud computing. The distributed cloud storage system (hereinafter referred to as the storage system) refers to a storage system that uses cluster applications, grid technology, and distributed storage file systems to collect a large number of different types of storage devices (storage devices are also called storage nodes) in the network through application software or application interfaces to work together and provide data storage and business access functions to the outside world.

[0101] 6. Blockchain.

[0102] Blockchain is a new application model of computer technologies such as distributed data storage, peer-to-peer transmission, consensus mechanism, encryption algorithm, etc. Blockchain is essentially a decentralized database, a string of data blocks generated by cryptographic methods. Each data block contains a batch of network transaction information, which is used to verify the validity of its information (anti-counterfeiting) and generate the next block. The following explains the concepts related to blockchain system, blockchain node, and block structure.

[0103] In this application, many types of vehicle data are involved in the vehicle simulation process, and these vehicle data may include, for example: the speed, acceleration (such as lateral acceleration, longitudinal acceleration), displacement (such as lateral displacement, longitudinal displacement), etc. of the target vehicle. Optionally, this application may send the above vehicle data to the blockchain for storage. Based on the characteristics of blockchain such as immutability and traceability, data tampering or leakage can be avoided, thereby improving the data security and reliability of the vehicle simulation process.

[0104] It should be noted that the relevant data involved in the vehicle simulation processing in this application, for example: vehicle distance, first simulation duration, second simulation duration, etc. When the above embodiments of this application are applied to specific products or technologies, user permission or consent must be obtained, and the relevant data collection, use and processing process must comply with relevant laws, regulations and standards of the region, comply with the principles of legality, legitimacy and necessity, and do not involve obtaining data types prohibited or restricted by laws and regulations. In some optional embodiments, the relevant data involved in the embodiments of this application are obtained after the object has been authorized separately. In addition, when obtaining the separate authorization of the object, the purpose of the relevant data involved must be indicated to the object.

[0105] The following is a detailed introduction to the architecture diagram of the vehicle simulation processing system provided by this application.

[0106] See also Figure 2 , Figure 2 Schematic diagram of the architecture of a vehicle simulation processing system provided by an embodiment of the present application. Figure 2 As shown, the architecture diagram of the vehicle simulation processing system may include at least: a first simulation device 201, a second simulation device 202, and a simulation platform 203. Among them, the simulation platform 203 is equipped with a simulation environment, and the simulation environment is used to perform vehicle simulation processing on the first simulation device 201 and the second simulation device 202. Among them, the embodiment of the present application does not specifically limit the number of simulation devices in the simulation processing system, and the number of devices can be flexibly changed according to different requirements of the simulation environment. In addition, the simulation platform 203 can be directly or indirectly connected to the first simulation device 201 and the second simulation device 202 through wired or wireless communication.

[0107] Any computer device (the first simulation device 201, the second simulation device 202, or the simulation platform 203) in the vehicle simulation processing system provided in the present application can be a mobile phone, a tablet computer, a laptop computer, a PDA, a mobile Internet device (MID), a vehicle, an on-board device, a roadside device, an aircraft, a wearable device, a smart device such as a smart watch, a smart bracelet, a pedometer, etc., a virtual reality device, etc.

[0108] Any computer device (first simulation device 201, second simulation device 202, or simulation platform 203) in the vehicle simulation processing system provided by the present application may also be a server. Specifically, the server may be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0109] It is understandable that the types of the various computer devices in the vehicle simulation processing system of the present application can be the same or different. For example, the first simulation device 201 and the second simulation device 202 can both be vehicles, and the simulation platform 203 can be a server; for another example, the first simulation device 201 can be a vehicle, the second simulation device can be a vehicle-mounted device, and the simulation platform 203 can be a mobile phone. The present application does not limit the number and type of various computer devices in the vehicle simulation processing system.

[0110] The following briefly describes the specific process of vehicle simulation processing by taking the target vehicle as the first simulation device 201 and the first vehicle as the second simulation device 202 as an example.

[0111] ① The simulation platform 203 determines the first simulation device 201 (ie, the target vehicle) located in the temporary parking area in the simulation environment; wherein the target vehicle enters the temporary parking area from the first lane.

[0112] ② The simulation platform 203 performs simulation processing on the first simulation device 201; the simulation processing process here is used to instruct the first simulation device 201 to move out of the temporary parking area into the first lane.

[0113] ③ During the simulation process, the simulation platform 203 can obtain the vehicle distance between the second simulation device 202 (i.e., the first vehicle) and the first simulation device 201 (i.e., the target vehicle) in the first lane; wherein the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to the vehicle that is located behind the target vehicle and adjacent to the target vehicle in the first lane before the target vehicle enters the temporary parking area from the first lane.

[0114] ④ If the vehicle distance is less than the preset safety distance, the first interactive control process is performed on the second simulation device 202 during the simulation process, and the second interactive control process is performed on the first simulation device 201. The first interactive control process is used to control the second simulation device 202 to give way to the first simulation device 201; the second interactive control process is used to control the first simulation device 201 to move from the temporary parking area to the first lane.

[0115] In one possible implementation, the vehicle simulation processing system provided in the present application can be deployed in a blockchain system, that is, the first simulation device 201, the second simulation device 202 and the simulation platform 203 are all used as node devices in the blockchain system, and the relevant data involved in the above-mentioned vehicle simulation processing process are stored on the blockchain, so that the simulation processing process of the vehicle in the present application can be executed on the blockchain, which can not only ensure the fairness and justice of the vehicle simulation processing process, but also make the vehicle simulation processing process traceable, thereby improving the security and reliability of the vehicle simulation processing process.

[0116] The vehicle simulation processing system provided by the present application comprises a first lane and a temporary parking area adjacent to the first lane in a simulation environment, and a target vehicle located in the temporary parking area in the simulation environment can be determined, and the target vehicle enters the temporary parking area from the first lane; a simulation processing is performed on the target vehicle, and the simulation processing process here is used to instruct the target vehicle to drive out of the temporary parking area into the first lane; and in the process of the simulation processing, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to a vehicle located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane; if the vehicle distance is less than a preset safety distance, a first interactive control processing is performed on the first vehicle, and a second interactive control processing is performed on the target vehicle during the simulation processing; wherein the first interactive control processing is used to control the first vehicle to give way to the target vehicle; and the second interactive control processing is used to control the target vehicle to move from the temporary parking area to the first lane. It can be seen that during the simulation processing, interactive control processing can be performed on the first vehicle and the target vehicle respectively according to the vehicle distance between the first vehicle and the target vehicle, that is, automatic interaction between the first vehicle and the target vehicle can be achieved according to their respective driving states, without the need to manually set virtual signs for the vehicles, so that the present application can improve the convenience and efficiency of the simulation processing; further, since the interaction between vehicles can be automatically achieved according to the distance between the vehicles, the simulation process can more accurately reproduce the real scene.

[0117] It can be understood that the vehicle simulation processing system described in the embodiment of the present application is for the purpose of more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. It is known to those skilled in the art that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0118] The specific embodiments of the vehicle simulation processing scheme are described below in conjunction with the accompanying drawings.

[0119] See also Figure 3 , Figure 3 FIG. 1 is a flow chart of a vehicle simulation processing method provided in an embodiment of the present application. The method can be Figure 2 The simulation platform (eg, terminal device or server) in the vehicle simulation processing system shown in the figure is executed, and the simulation environment corresponding to the simulation processing method includes the first lane and the temporary parking area adjacent to the first lane. Figure 3 As shown, the vehicle simulation processing method mainly includes but is not limited to the following steps S301-S304:

[0120] S301: Determine a target vehicle located in a temporary parking area in a simulation environment; the target vehicle enters the temporary parking area from a first lane.

[0121] In the embodiment of the present application, the target vehicle refers to a vehicle that has the driving permission to enter the temporary parking area. The target vehicle here can be any type of vehicle, such as a public transport vehicle, a fire truck, a faulty vehicle, etc. The present application does not specifically limit the type of the target vehicle. Among them, the number of target vehicles in the temporary parking area is one, and the target vehicle enters the temporary parking area from the first lane.

[0122] like Figure 1 As shown, the simulation environment may include: a first lane, a second lane and a temporary parking area; wherein the first lane is adjacent to the second lane, and the temporary parking area is adjacent to the first lane; in addition, in the process of simulating the target vehicle, the simulation environment may include at least the following types of vehicles: the target vehicle, the vehicle following the target vehicle, the vehicle beside the target vehicle, the leading vehicle of the target vehicle, and other vehicles, etc. It should be noted that the embodiments of the present application do not specifically limit the number of lanes and the number of vehicles included in the simulation environment. Figure 1 , different types of vehicles in the simulation environment involved in the embodiment of the present application are introduced in detail according to the relative position relationship between the vehicles, wherein:

[0123] i. Target vehicle: a vehicle located in the temporary parking area, and the target vehicle enters the temporary parking area from the first lane.

[0124] ii. Following vehicle: refers to the vehicle that is located behind the target vehicle and adjacent to the target vehicle in the first lane before the target vehicle enters the temporary parking area from the first lane.

[0125] iii. Leading vehicle: refers to the vehicle that is located in front of and adjacent to the target vehicle in the first lane after the target vehicle enters the first lane from the temporary parking area.

[0126] iv. Side vehicle: refers to a vehicle in the first lane whose body projection overlaps with the target vehicle. The number of the side vehicle can be one or more.

[0127] v. Other vehicles: In the simulation environment, vehicles that do not belong to any of the above i-iv types.

[0128] It should be noted that the present application does not specifically limit the types of vehicles in the simulation environment, such as cars, trucks, buses, tricycles, bicycles, etc. For example, the target vehicle may be a bus, the following vehicle may be a car, the leading vehicle may be a bus, the side vehicle may be a truck, and so on.

[0129] S302: Perform simulation processing on the target vehicle; the simulation processing process is used to instruct the target vehicle to move out of the temporary parking area into the first lane.

[0130] Specifically, the process of simulating the target vehicle refers to the process of moving the target vehicle from the temporary parking area to the first lane. If the target vehicle is a bus, the temporary parking area can be a bay-type bus stop. Figure 4 , Figure 4 Schematic diagram of the structure of a bay-type bus station provided in the embodiment of the present application. Figure 4 As shown, the bay-type bus station mainly includes three main parts: deceleration section, parking area, and acceleration section, among which the deceleration section refers to the section where the bus enters from the first lane to the temporary parking area; the parking area refers to the area where the bus is used to temporarily park the vehicle, in which the bus is allowed to pick up and drop off passengers; the acceleration section refers to the section where the bus returns from the temporary parking area to the first lane. The movement process of the bus in the bay-type bus station can mainly include two stages: the bay entry stage and the bay exit stage. The so-called bay entry stage refers to the process of the bus entering from the first lane to the parking area, which mainly includes the two steps of changing lanes and decelerating and stopping; the so-called bay exit stage refers to the process of the bus driving out of the parking area to the first lane, which mainly includes the two steps of accelerating and starting and changing lanes. It should be noted that the simulation processing process involved in this application mainly refers to the bay exit process of the bus.

[0131] The process of the target vehicle moving from the temporary parking area to the first lane may include the following two situations:

[0132] Case 1: When the first lane meets the lane-changing safety conditions, you can start changing lanes directly from the temporary stopping area and merge directly into the first lane without stopping in the middle. That is, the simulation process of moving from the temporary stopping area to the first lane is completed in one go without stopping in the middle.

[0133] Case 2: When there is a following vehicle in the first lane, since it is impossible to judge whether the following vehicle will give way, ① the target vehicle can first deflect the body and stop at the designated position in the temporary parking area (that is, the outer contour envelope of the target vehicle is located in the temporary parking area and has not entered the first lane) to wait, and define the designated position here as the exit waiting position, so that the following vehicle can clearly realize the target vehicle's intention to exit the temporary parking area. ② When the lane change safety conditions of the first lane are met (for example, the following vehicle gives way, or the distance between the following vehicles is large enough), the target vehicle can continue to merge into the first lane from the designated position, thereby completing the simulation process.

[0134] In a possible implementation, the simulation process of the target vehicle can be divided into: a first simulation stage and a second simulation stage. The first simulation stage refers to moving the target vehicle from its initial position (i.e. Figure 4 The second simulation stage is used to indicate the process of moving the target vehicle from the designated position to the first lane. Based on the above analysis, the simulation process of the target vehicle can be specifically divided into the following three cases:

[0135] Case 1a: The target vehicle moves from its initial position in the temporary parking area (e.g. Figure 4 The driver shall turn slightly toward the first lane (the parking area shown in the figure) to reach the designated position (i.e., the exit waiting position).

[0136] Case 2a: The target vehicle changes lanes directly from the exit waiting position to the first lane. That is, the lane change safety conditions of the first lane are met. Then, after the first simulation phase, the target vehicle does not need to stop and directly starts to change lanes to the first lane, thus completing the entire exit process at one time.

[0137] Case 2b: The target vehicle needs to wait at the exit waiting position, and start changing lanes to the first lane when the lane change safety conditions of the first lane are met. That is, if the lane change safety conditions of the first lane are not met, the target vehicle needs to stop and wait at the exit waiting position after the first simulation phase ends, and continue changing lanes to the first lane when the lane change safety conditions of the first lane are met to complete the merging operation.

[0138] In summary, case 1a refers to the specific simulation process of the target vehicle in the first simulation stage; case 2a or 2b refers to the specific simulation process of the target vehicle in the second simulation stage. Among them, the lane change safety conditions involved above can include the following three judgment methods:

[0139] Method 1: judge based on the distance between the front and rear vehicles.

[0140] In specific implementation, the simulation platform determines whether the target vehicle at the specified position meets the lane changing safety condition of the first lane, and obtains the judgment result, which may include the following process: obtaining the first distance between the target vehicle and the first vehicle in the first lane; and obtaining the second distance between the target vehicle and the second vehicle in the first lane; if the first distance is greater than the first safety threshold, and the second distance is greater than the second safety threshold, then the judgment result is determined to be that the target vehicle meets the lane changing safety condition of the first lane; if the first distance is not greater than the first safety threshold, or the second distance is not greater than the second safety threshold, then the judgment result is determined to be that the target vehicle does not meet the lane changing safety condition of the first lane. Among them, the first vehicle refers to the following vehicle of the target vehicle in the first lane, and the second vehicle may be the leading vehicle of the target vehicle in the first lane. For the definitions of the following vehicle and the leading vehicle, please refer to the above description and will not be repeated here. Please refer to Figure 5 , Figure 5 Schematic diagram of a lane changing process of a target vehicle provided in an embodiment of the present application. Figure 5 As shown in FIG. 1 , assuming that the target vehicle i changes lanes from the temporary parking area to the first lane, the second distance between the target vehicle i and the leading vehicle (i.e., the second vehicle) is represented by Gi2, and the first distance between the target vehicle i and the following vehicle (i.e., the first vehicle) is represented by Gi1. Then, the lane change safety condition for the first lane here can be:

[0141] Gi2> front vehicle safety distance GSP (second safety distance)

[0142] Gi1> rear vehicle safety distance GSR (first safety distance)

[0143] Method 2: Comprehensive judgment based on the speed of the front, rear and following vehicles.

[0144] In specific implementation, after obtaining the second distance Gi2 between the target vehicle i and the leading vehicle (i.e., the second vehicle), and the first distance Gi1 between the target vehicle i and the following vehicle (i.e., the first vehicle), the speed V1 of the following vehicle (i.e., the first vehicle) may also be obtained, and the lane change safety condition of the first lane may be comprehensively set based on the first distance Gi1, the second distance Gi2, and the speed V1 of the following vehicle. For example, the lane change safety condition at this time may include:

[0145] Gi2> front vehicle safety distance GSP (second safety distance)

[0146] Gi1> rear vehicle safety distance GSR (first safety distance)

[0147] V1≤Vr(preset speed)

[0148] Method three: make a judgment after weighting according to the distance between the front and rear vehicles.

[0149] In specific implementation, after obtaining the second distance Gi2 between the target vehicle i and the leading vehicle (i.e., the second vehicle), and the first distance Gi1 between the target vehicle i and the following vehicle (i.e., the first vehicle), corresponding constant terms may be set for the first safety distance GSR and the second safety distance GSP, respectively, and the lane change safety condition of the first lane may be set by superimposing the constant term with the safety distance. For example, the lane change safety condition at this time may include:

[0150] Gi2> front vehicle safety distance GSP (second safety distance) + k1

[0151] Gi1> rear vehicle safety distance GSR (first safety distance) + k2

[0152] Wherein, k1 and k2 are constant terms, and both k1 and k2 are values ​​greater than 0 (for example, integers or fractions). In this way, the target vehicle can change lanes safely only when it meets a safety distance greater than a set threshold during the lane change process, which can improve the safety of the target vehicle's lane change process.

[0153] S303: During the simulation process, a vehicle distance between the first vehicle and the target vehicle in the first lane is obtained.

[0154] Wherein, the first vehicle is the following vehicle of the target vehicle; Figure 1 As shown, the following vehicle refers to a vehicle that is located behind the target vehicle and adjacent to the target vehicle in the first lane before the target vehicle enters the temporary parking area from the first lane.

[0155] In one possible implementation, during the simulation process, a vehicle-mounted radar is deployed in the simulation platform, and the simulation platform can call the vehicle-mounted radar to detect and obtain the vehicle distance between the first vehicle and the target vehicle in the first lane; or, any vehicle in the simulation environment can report its own position data to the simulation platform in real time, and the simulation platform calculates the vehicle distance between the first vehicle and the target vehicle according to the first position data of the first vehicle and the second position data of the target vehicle. For example, the position data of any vehicle may include the horizontal coordinate and the vertical coordinate of the corresponding vehicle in the simulation environment, and then the simulation platform can calculate the vehicle distance between the target vehicle and the first vehicle based on the horizontal coordinate and the vertical coordinate of the first vehicle, and the horizontal coordinate and the vertical coordinate of the target vehicle.

[0156] S304: If the vehicle distance is less than the preset safety distance, a first interactive control process is performed on the first vehicle and a second interactive control process is performed on the target vehicle during the simulation process.

[0157] The first interactive control process is used to control the first vehicle to yield to the target vehicle; the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane. Specifically, the first interactive control process includes executing a lane change yielding process or a deceleration yielding process for the first vehicle; the second interactive control process refers to moving the target vehicle from the temporary parking area to the first lane.

[0158] In a possible implementation, the simulation process includes a first simulation stage, and the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the first simulation stage. For example, the first simulation duration of the first simulation stage is expressed as Tip, and the first simulation stage includes Tip simulation steps. Then, the vehicle distance obtained in the first simulation stage refers to: the vehicle distance obtained by any simulation step in Tip simulation steps. Wherein, the simulation platform performs a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation process, including the following steps: 1) In the first simulation stage, the first vehicle is changed from the first lane to the second lane according to the first preset probability; or, the first vehicle in the first lane is slowed down and courteous according to the second preset probability; 2) In the first simulation stage, the target vehicle is subjected to a moving simulation process according to a specified moving direction to move the target vehicle from an initial position in the temporary parking area to a specified position in the temporary parking area.

[0159] In a possible implementation, the simulation process also includes a second simulation stage, and the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the second simulation stage. For example, the second simulation time of the second simulation stage is expressed as Tic, and the second simulation stage includes Tic simulation steps. Then, the vehicle distance obtained in the second simulation stage refers to: the vehicle distance obtained by any simulation step in the Tic simulation steps. Among them, the simulation platform performs the first interactive control process on the first vehicle and the second interactive control process on the target vehicle during the simulation process, including the following steps: 1) In the second simulation stage, the waiting time of the target vehicle at the specified position is obtained, and the first interactive control process is performed on the first vehicle according to the waiting time of the target vehicle; specifically, the first interactive control process is used to indicate: if the waiting time of the target vehicle is longer, the probability of performing the first interactive control process on the first vehicle is greater, and the probability includes the first preset probability of lane change courtesy processing or the second preset probability of deceleration courtesy processing. 2) In the second simulation stage, the target vehicle is moved from the specified position of the temporary parking area to the first lane according to the mobile simulation strategy.

[0160] Specifically, for the following vehicle of the target vehicle (i.e., the first vehicle), a rear reaction distance DL (i.e., the preset safety distance) is first defined. (1) If the vehicle distance between the first vehicle and the target vehicle is greater than or equal to the distance DL, the first vehicle will ignore any driving behavior of the target vehicle and drive according to its own driving rules. (2) When the first vehicle enters the range of this distance DL, and the target vehicle is currently in the first simulation stage or the second simulation stage (i.e., the exit stage 1a, 2a, or 2b), the first vehicle will consider whether to give way to the target vehicle: ① First, the first vehicle will give priority to changing lanes to the adjacent lane (i.e., the second lane) according to the first preset probability P1, without slowing down to give way to the target vehicle. That is, it is determined whether the lane change safety conditions of the second lane are met at this time. If so, the first vehicle starts to perform the lane change operation to perform lane change courtesy processing for the target vehicle; ② When the lane change operation cannot be implemented due to insufficient safety distance in the second lane or other reasons, the first vehicle can decelerate and yield to the target vehicle according to the second preset probability P2. During the deceleration and yielding process of the first vehicle, the first vehicle regards the projection of the target vehicle on the first lane (in the st coordinate system) as the front vehicle in the following algorithm model to update its longitudinal speed. Here, the size of this preset safety distance DL is not limited, and it can be a function of the aggressiveness of the first vehicle. If the first vehicle is more conservative (that is, the less aggressive), the preset safety distance DL is larger, that is, the first vehicle will react to the driving behavior of the target vehicle sooner. It should be noted that the car-following algorithm model can be a neural network model of any network structure. For example, the neural network model can include but is not limited to: CNN (Convolutional neural networks) model, RNN (Recurrent neural networks) model, LSTM (Long Short Term Memory) model, GRU (Gated recurrent units) model, etc. The embodiment of the present application does not specifically limit the model structure of the car-following algorithm model.

[0161] Among them, when determining whether the first vehicle yields to the target vehicle, the simulation platform can generate a random number q between (0-1). If q < P1 or q < P2, it is considered that the condition is established here, that is, the first vehicle will perform corresponding yielding operations on the target vehicle. For example, the first vehicle will perform lane-changing yielding or deceleration yielding on the target vehicle; otherwise, the first vehicle will not perform yielding operations. For example, P1 = 0.3. When the random number q = 0.23, it is considered that the first vehicle will choose to change lanes to the second lane to perform lane-changing yielding on the target vehicle. Another example is that P2 = 0.4. When the random number q = 0.23, it is considered that the first vehicle will choose to perform deceleration in its own lane (i.e., the first lane) to perform deceleration yielding on the target vehicle. Here, the values of the preset P1 and P2 are not limited and can be set to be associated with the aggressiveness Ai of the first vehicle and the waiting duration Twi of the target vehicle at a specified position. For example, the more conservative the following vehicle (i.e., the lower the aggressiveness), or the larger the waiting duration Twi that the target vehicle has waited, the larger the value of P1 or P2, and the more likely the generated random number q is to be less than P1 or P2, that is, the following vehicle is more likely to perform yielding operations on the target vehicle.

[0162] Next, in the automatic interaction process between the first vehicle and the target vehicle in combination with the accompanying drawings, the specific simulation process of the first vehicle will be described in detail. For example, assume that the preset safety distance between the first vehicle and the target vehicle is represented as DL. For the following vehicle (i.e., the first vehicle), please refer to Figure 6 , Figure 6 which is a schematic diagram of the simulation process of a first vehicle provided by an embodiment of the present application. As Figure 6 shown, the decision-making process of the first vehicle in the simulation process includes the following steps S1-S8:

[0163] S1. Determine whether the first vehicle drives into the range of DL. If so, that is, the vehicle distance between the first vehicle and the target vehicle is less than the preset safety distance DL, then trigger the execution of S2; otherwise, execute S8.

[0164] S2. Determine whether the target vehicle is in the process of simulation processing. Among them, the simulation processing process here refers to the process of the target vehicle driving out of the temporary parking area to the first lane (for example, including the first simulation stage and the second simulation stage). If so, execute S3; otherwise, execute S8.

[0165] S3. Determine whether the first vehicle yields by changing lanes according to the probability P1. Where P1 is the first preset probability. If so, execute S4; otherwise, execute S6.

[0166] S4: Determine whether the lane-changing safety condition is met. If so, execute S5; otherwise, execute S6. Specifically, it is to determine whether the first vehicle meets the lane-changing safety condition of the second lane, where the second lane refers to the adjacent lane of the first lane (e.g. Figure 1 As shown). The specific definition of the lane change safety condition can be found in the above description, which will not be repeated here.

[0167] S5. The first vehicle changes lanes to yield. That is, the first vehicle changes lanes from the first lane to the second lane to perform a lane change yielding process on the target vehicle.

[0168] S6: Determine whether to slow down and yield according to probability P2. If yes, execute S7; otherwise, execute S8.

[0169] S7. Use the projection of the target vehicle in the lane (i.e., the first lane) as the signal for the vehicle ahead to slow down and yield.

[0170] S8. Continue driving.

[0171] It can be seen from the above steps S1-S8 that during the simulation processing of the target vehicle (for example, including the first simulation stage and the second simulation stage), the following vehicle of the target vehicle (i.e., the first vehicle) can automatically perform lane change courtesy or speed reduction courtesy and other processing according to the vehicle distance between the target vehicle and the target vehicle, thereby automatically realizing interaction between vehicles based on the driving status of the vehicles. There is no need to manually set virtual signs such as yield for the vehicles. During the simulation processing, interaction between vehicles can be automatically completed, thereby improving the efficiency of the simulation processing; and the real scene can be reproduced more accurately, thereby ensuring the authenticity of the simulation processing.

[0172] In an embodiment of the present application, a simulation environment includes a first lane and a temporary parking area adjacent to the first lane, and a target vehicle located in the temporary parking area in the simulation environment can be determined, and the target vehicle enters the temporary parking area from the first lane; a simulation process is performed on the target vehicle, and the simulation process here is used to indicate that the target vehicle is driven out of the temporary parking area and into the first lane; and in the process of the simulation process, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane; if the vehicle distance is less than the preset safety distance, a first interactive control process is performed on the first vehicle during the simulation process, and a second interactive control process is performed on the target vehicle; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane. It can be seen that during the simulation processing, interactive control processing can be performed on the first vehicle and the target vehicle respectively according to the vehicle distance between the first vehicle and the target vehicle, that is, automatic interaction between the first vehicle and the target vehicle can be achieved according to their respective driving states, without the need to manually set virtual signs for the vehicles, so that the present application can improve the convenience and efficiency of the simulation processing; further, since the interaction between vehicles can be automatically achieved according to the distance between the vehicles, the simulation process can more accurately reproduce the real scene.

[0173] The specific process of simulating the target vehicle in stages is described in detail below with reference to the accompanying drawings.

[0174] 1. The first simulation stage (case 1a).

[0175] In a possible implementation, in the first simulation stage, the target vehicle is moved from the initial position in the temporary parking area (i.e., the parking area) to the designated position in the temporary parking area according to the specified moving direction. The specified moving direction is used to indicate the heading angle between the driving direction of the target vehicle in the first simulation stage and the main driving direction of the road to which the target vehicle belongs. In specific implementation, determining the heading angle corresponding to the specified moving direction includes the following process: obtaining the first simulation duration of the first simulation stage and the longitudinal acceleration of the target vehicle; determining the lateral displacement of the target vehicle from the initial position in the temporary parking area to the designated position in the temporary parking area; calculating the lateral terminal speed of the target vehicle at the designated position according to the first simulation duration and the lateral displacement; calculating the longitudinal terminal speed of the target vehicle at the designated position according to the first simulation duration and the longitudinal acceleration; determining the heading angle between the driving direction of the target vehicle in the first simulation stage and the main driving direction of the road to which the target vehicle belongs based on the lateral terminal speed and the longitudinal terminal speed.

[0176] For example, assuming that in the first simulation stage, the first simulation time is represented as Tip, the longitudinal acceleration of the target vehicle is represented as aix, the lateral displacement is represented as Diy, the lateral acceleration is represented as aiy, the longitudinal displacement is represented as Dix, and the heading angle indicated by the specified moving direction is represented as α0. The calculation process of the relevant parameters of the first simulation process is specifically described below.

[0177] ① Determine the first simulation duration Tip. Assume that in the first simulation stage, the lateral and longitudinal movement speeds of the bus are both a process of gradually accelerating from zero with a uniform acceleration. Since the bus is in a stationary state at its initial position in the temporary stop area (i.e., in a passenger pick-up and drop-off scenario), it is believed that its speed cannot be too fast. Here, a departure preparation time Tip (i.e., the first simulation duration of the first simulation stage) is defined for the target vehicle i. The departure preparation time Tip is set to: the time required for the bus to move from its initial position in a stationary state in the temporary stop area to the designated position in the temporary stop area. There is no limit on the size of the departure preparation time Tip here, and it can be set as a function of the aggressiveness Ai of the target vehicle i, for example Tip = Tp*(2-Ai), where Tp is a constant, such as 1.5 seconds, that is, this value is between 1.5-3 seconds.

[0178] ② Determine the lateral displacement Diy of the target vehicle i. In a possible implementation, the process of determining the lateral displacement of the target vehicle from the initial position in the temporary parking area to the designated position in the temporary parking area mainly includes the following steps: obtaining the vehicle width of the target vehicle and the lane width corresponding to the temporary parking area; calculating the difference between the vehicle width and the lane width, and determining half of the difference as the first lateral displacement corresponding to the target vehicle; obtaining the second lateral displacement specified in the temporary parking area, the second lateral displacement is less than the first lateral displacement; determining the displacement range of the target vehicle based on the second lateral displacement and the first lateral displacement, and determining the lateral displacement of the target vehicle at the designated position according to the displacement range. For example, the lane width corresponding to the temporary parking area is represented by WL, the lane width of the target vehicle i is represented by Wi, and the second lateral displacement refers to the minimum lateral displacement of the target vehicle (i.e., the minimum distance between the target vehicle i at the designated position and the lane centerline of the temporary parking area), which can be represented by Dymin. The size of Dymin is not limited here, and can be taken as a constant, such as 0.1 meters or 0.2 meters. Then, the first lateral displacement (ie, the maximum lateral displacement) of the target vehicle i can be determined as: WL / 2-Wi / 2. Therefore, the lateral displacement of the target vehicle i at the specified position is Diy∈(Dymin, WL / 2-Wi / 2).

[0179] ③ Determine the lateral terminal velocity Viy and lateral uniform acceleration aiy of the target vehicle i at the specified position. Where, Viy = 2·Diy / Tip; aiy = Viy / Tip.

[0180] ④ Determine the longitudinal terminal velocity Vix and longitudinal displacement Dix of the target vehicle i at the specified position. Where, Vix = aix*Tip; Dix = Vix*Tip / 2.

[0181] ⑤ Determine the heading angle α0=arctan(Viy / Vix) indicated by the specified moving direction of the target vehicle i.

[0182] Based on this, see Figure 7a , Figure 7a FIG. 1 is a schematic diagram of a process for determining a heading angle provided in an embodiment of the present application. Figure 7a As shown, when the target vehicle i reaches the specified position, the heading angle indicated by the specified moving direction is determined according to the longitudinal terminal velocity Vix and the lateral terminal velocity Viy at the end of the first simulation stage. Here, the angle between the geometric longitudinal axis of the target vehicle and the lane centerline of the first lane is defined as α0.

[0183] It should be noted that in the first simulation stage, this scheme does not consider the slip angle (the angle between the velocity direction and the longitudinal axis direction of the vehicle) in vehicle dynamics, that is, it is assumed that the direction of the longitudinal axis of the vehicle body is consistent with the direction of the vehicle's velocity vector, and the vehicle's velocity vector at each simulation step is synthesized from the longitudinal velocity and lateral velocity vector corresponding to the corresponding simulation step. During the inference process, the longitudinal velocity and lateral velocity are uniformly accelerated motions, so the longitudinal velocity, lateral velocity, position, heading angle and other related parameters of each simulation step of the target vehicle in the process of driving from the initial position to the specified position can be inferred.

[0184] 2. Second simulation stage (Case 2a or Case 2b).

[0185] In a possible implementation, when the first simulation phase for the target vehicle is finished, it is possible to determine whether the target vehicle at the specified position meets the lane change safety condition of the first lane, and obtain a determination result; and according to the determination result, determine the movement simulation strategy of the target vehicle in the second simulation phase. Figure 3 The relevant description in step S302 of the embodiment will not be repeated here in the embodiment of the present application.

[0186] In a possible implementation, the mobile simulation strategy includes a first simulation sub-strategy and a second simulation sub-strategy. Further, the simulation platform determines the mobile simulation strategy of the target vehicle in the second simulation stage according to the judgment result, which mainly includes the following two situations: ① If the target vehicle meets the lane-changing safety conditions of the first lane, the mobile simulation strategy of the target vehicle in the second simulation stage is determined to be the first simulation sub-strategy; the first simulation sub-strategy is used to instruct the target vehicle to immediately move from the specified position to the first lane at the end of the simulation of the first simulation stage; ② If the target vehicle does not meet the lane-changing safety conditions of the first lane, the mobile simulation strategy of the target vehicle in the second simulation stage is determined to be the second simulation sub-strategy; the second simulation sub-strategy is used to instruct the target vehicle to stop and wait at the end of the simulation of the first simulation stage, and move from the specified position to the first lane after stopping and waiting. The two situations of the second simulation stage (i.e., situations 2a and 2b) are described in detail below.

[0187] Case 2a: The mobile simulation strategy is the first simulation sub-strategy.

[0188] In a possible implementation, when the mobile simulation strategy is the first simulation sub-strategy, the first simulation sub-strategy is used to stipulate that the second simulation time of the target vehicle in the second simulation stage is divided into Tic simulation steps, and the first simulation sub-strategy is used to stipulate that the target vehicle is simulated and moved in the lateral direction and the longitudinal direction respectively; Tic is a positive integer. The simulation platform moves the target vehicle from the designated position of the temporary parking area to the first lane according to the mobile simulation strategy, specifically including the following steps: calling the following algorithm model, based on the driving state of the first vehicle in the first lane, determining the longitudinal speed and longitudinal acceleration of the target vehicle in the longitudinal direction in each simulation step; determining the initial state parameters and the terminal state parameters of the target vehicle in the lateral direction; according to the initial state parameters and the terminal state parameters, calling the fifth-order polynomial to calculate the lateral speed and lateral acceleration of the target vehicle in the lateral direction in each simulation step; according to the longitudinal speed, longitudinal acceleration, lateral speed, and lateral acceleration of the target vehicle in each simulation step, determining the moving trajectory of the target vehicle in the second simulation stage; according to the moving trajectory, moving the target vehicle from the designated position to the first lane within Tic simulation steps.

[0189] Specifically, the simulation platform determines the initial state parameters and terminal state parameters of the target vehicle in the lateral direction, mainly including the following steps: first, obtaining the lateral displacement of the target vehicle in the first simulation stage, as well as the lateral terminal velocity and lateral acceleration of the target vehicle at the end of the first simulation stage; determining the lateral displacement, lateral terminal velocity, and lateral acceleration of the target vehicle as the initial state parameters of the target vehicle in the lateral direction; and, based on the lane width corresponding to the road to which the target vehicle belongs, determining the terminal state parameters of the target vehicle in the lateral direction.

[0190] The relevant parameters involved in the case 2a of the second simulation stage are described in detail below.

[0191] In this case, since the lane change safety condition is met, the target vehicle i does not need to wait, and it is considered that its initial speed when it starts to merge into the lane change is the longitudinal termination speed Vix and the lateral termination speed Viy when it reaches the designated position (i.e., the exit waiting position) in case 1a. At this time, it is considered that the target vehicle i has turned its front to the state of preparing to merge into the adjacent lane (i.e., the first lane). Therefore, when using the following algorithm model to update the longitudinal speed of the target vehicle i, the leading vehicle in the first lane (i.e., the second vehicle) is used as the front vehicle of the target vehicle to update the longitudinal acceleration and longitudinal speed in the longitudinal direction (y direction). Here, a exit continuation time Tic (i.e., the second simulation duration) is defined for the target vehicle i, which is the time required from leaving the designated position until changing lanes to the center line of the first lane, i.e., the duration of case 2a. The size of Tic is not limited here, and can be set as a function of the aggressiveness Ai of the target vehicle i, such as Tic = Tc*(2-Ai), where Tc is a constant, such as 3 seconds, that is, this value is between 3-6 seconds.

[0192] Based on this, the initial state parameters of the target vehicle i in the lateral direction can be expressed as: (Qd0, Vd0, Ad0), and the terminal state parameters of the target vehicle i in the lateral direction can be expressed as: (QdT, VdT, AdT). Next, a quintic polynomial is constructed according to (Qd0, Vd0, Ad0) and (QdT, VdT, AdT) to calculate the correlation coefficient of the target vehicle i in case 2a of the second simulation stage (where Q, V, and A are the position, velocity, and acceleration of the target vehicle i in the lateral direction, respectively), so that the state of the target vehicle i in the lateral direction of each simulation step in the lane change process can be calculated. Figure 7a As shown in the figure, the values ​​of the initial state parameters and the final state parameters of the target vehicle i are as follows:

[0193] Vd0=Viy, VdT=0, Ad0=aiy, AdT=0, Qd0=Diy, QdT=Wi.

[0194] Case 2b: The mobile simulation strategy is the second simulation sub-strategy.

[0195] In a possible implementation, when the mobile simulation strategy is the second simulation sub-strategy, the second simulation sub-strategy is used to specify the time threshold Tmi for the target vehicle to stop and wait at the designated position. The simulation platform moves the target vehicle from the designated position to the first lane according to the mobile simulation strategy, mainly including the following steps: first, obtain the waiting time that the target vehicle has been waiting at the designated position; then, obtain the first safety threshold between the target vehicle and the first vehicle in the first lane, and the second safety threshold between the target vehicle and the second vehicle in the first lane; according to the waiting time, the time threshold, the first safety threshold and the second safety threshold, determine whether the target vehicle meets the lane change safety condition at the current moment; if it does, then in the second simulation stage, according to the second simulation sub-strategy, move the target vehicle from the designated position to the first lane. Optionally, if the target vehicle does not meet the lane change safety condition at the current moment, and the waiting time of the target vehicle is greater than or equal to the time threshold, then determine whether there is a side vehicle associated with the target vehicle in the first lane; if not, then in the second simulation stage, move the target vehicle from the designated position to the first lane according to the second simulation sub-strategy.

[0196] In specific implementation, the second simulation duration of the second simulation phase is divided into Tic simulation steps, and any simulation step corresponds to a simulation angle; the second simulation strategy is used to indicate: in the second simulation phase, the target vehicle is subjected to mobile simulation processing according to the moving direction indicated by the simulation angle of each simulation step; wherein the simulation angle refers to: the angle between the geometric longitudinal axis of the target vehicle and the center line of the lane to which the target vehicle belongs. Specifically, the simulation platform calculates the target angle of any simulation step (the t-th simulation step) as follows: based on the longitudinal terminal speed of the target vehicle at the end of the first simulation phase and the longitudinal speed of the target vehicle corresponding to the t-th simulation step, determine the longitudinal vector corresponding to the t-th simulation step of the target vehicle; based on the lateral terminal speed of the target vehicle at the end of the first simulation phase and the lateral speed of the target vehicle corresponding to the t-th simulation step, determine the lateral vector corresponding to the t-th simulation step of the target vehicle; according to the longitudinal vector and the lateral vector, calculate the target angle corresponding to the t-th simulation step of the target vehicle, 1≤t≤Tic.

[0197] In specific implementation, the simulation platform determines the lateral vector of the target vehicle corresponding to the t-th simulation step based on the lateral terminal speed of the target vehicle at the end of the first simulation stage and the lateral speed of the target vehicle corresponding to the t-th simulation step, and specifically includes the following steps: determining the lateral correction speed per unit time according to the lateral terminal speed of the target vehicle at the end of the first simulation stage and the second simulation time; calculating the correction speed corresponding to the t-th simulation step based on the lateral correction speed per unit time; calculating the sum speed between the lateral terminal speed of the target vehicle and the lateral speed corresponding to the t-th simulation step; and, taking the difference between the sum speed and the correction speed corresponding to the t-th simulation step as the lateral vector of the target vehicle corresponding to the t-th simulation step.

[0198] The following is a detailed description of the relevant parameters involved in the case 2b of the second simulation stage.

[0199] In this case, since the lane-changing safety conditions of the first lane are not met (for example, the distance between the target vehicle and the front and rear vehicles is too small or the speed of the following vehicle is too fast, etc.), the target vehicle i needs to wait at the specified position. Here, it is assumed that the initial longitudinal speed and initial lateral speed of the target vehicle i when changing lanes from the specified position are both 0, that is, after the first simulation stage (stage 1a), when it is judged that the lane-changing safety conditions of the first lane are not met, the speed of the target vehicle i is assigned to 0 (that is, waiting in place). The waiting time that the target vehicle i has been waiting at the specified position can be expressed as Twi. Here, it is defined that the target vehicle i has a maximum waiting time Tmi (i.e., the time threshold) to describe the maximum waiting time that the target vehicle i can tolerate when waiting to merge into the first lane at the specified position. It should be noted that the target vehicle i will accept a smaller safety distance as Tmi approaches. If the waiting time of the target vehicle i exceeds Tmi, but the front and rear vehicles in the first lane still do not have a large enough front and rear safety gap GTPi and GTRi with it. For example, see Figure 7b , Figure 7b is a schematic diagram of the front and rear vehicle distance of a target vehicle provided in an embodiment of the present application, such as Figure 7bAs shown, the front gap (i.e., the second distance) between the target vehicle i and the leading vehicle is represented as GTPi, and the rear gap (i.e., the first distance) between the target vehicle i and the following vehicle is represented as GTRi. In this case, as long as there is no vehicle beside, the target vehicle i will also start to merge into the first lane. At the same time, this Tmi will also affect the courtesy probability of the following vehicle. As Tmi approaches, the following vehicle will be more and more inclined to give way to the target vehicle i. There is no limit on this time value here, and it can be set as a function of the aggressiveness of the target vehicle i, such as Tmi=Tm*(2-Ai), where Tm is a constant, such as 2 seconds, that is, this value is between 2-4 seconds. It can be understood that the more aggressive the target vehicle i is, the shorter the waiting time threshold Tmi that can be tolerated.

[0200] Correspondingly, if there is no vehicle beside the first lane, the lane-changing safety condition for the target vehicle to enter the first lane from the specified position is expressed as:

[0201] GTRi>GRmi·(Tmi-Twi) / Tmi

[0202] GTPi>GPmi·(Tmi-Twi) / Tmi

[0203] Among them, GPmi and GRmi are the minimum safe front gap and rear gap that the target vehicle i can accept when completing the merge, respectively. There is no limitation here, and it may be related to the model of the target vehicle i and the aggressiveness of the bus driver. For example, the smaller the size of the bus, or the more aggressive the bus driver, the smaller the minimum safe gap. As time goes by, the longer the waiting time, the closer Twi is to Tmi, and the closer the safe gap that the target vehicle i can accept is to 0. When the waiting time Twi>Tmi, and there are still vehicles beside, in order to avoid scratches, the target vehicle i will wait at the exit waiting position until there are no vehicles beside. Specifically, the values ​​of the boundary conditions for the target vehicle i to change lanes from the specified position to the first lane are as follows:

[0204] Vd0=VdT=0, Ad0=AdT=0, Qd0=Diy, QdT=Wi.

[0205] Since in the first simulation stage, the angle between the geometric longitudinal axis of the target vehicle and the center line of the lane is always consistent with the direction of the instantaneous velocity vector (wherein, if it is determined that the lane-changing safety condition of the first lane is not met and the speed is reset to zero at the Tip moment, the angle between the geometric longitudinal axis of the target vehicle and the center line of the lane will not be changed). Therefore, when the target vehicle arrives at the designated position (i.e., the exit waiting position), the angle between the geometric longitudinal axis and the center line of the lane α0 = arctan (Viy / Vix). When the target vehicle is waiting at this designated position, the vehicle speed becomes 0 and the body angle remains unchanged (i.e., α0); when the lane-changing safety condition of the first lane is met or the Tmi time has passed, the target vehicle will start to accelerate and start the exit lane-changing operation in the second simulation stage. Since the re-acceleration process is a process of increasing speed from 0, if the angle between the geometric longitudinal axis and the lane centerline is consistent with the direction of the instantaneous velocity vector, the angle will instantly jump from α0 (i.e. the angle at the end of the first simulation stage) to 0 (re-acceleration starts from 0), and then slowly increase, which will cause the vehicle body's orientation angle to visually produce a sudden jump distortion effect. To avoid this situation, the application can use the following method to calculate the target angle α between the geometric longitudinal axis of the target vehicle and the lane centerline at time t (t∈[1, Tic]):

[0206] α=arctan(Yit / Xit)

[0207] Among them, Xit and Yit are the longitudinal vector and lateral vector of the target vehicle i respectively. Specifically, the longitudinal vector and lateral vector are calculated as follows:

[0208] ① Longitudinal vector Xit: At the tth simulation step, the longitudinal vector Xit of the target vehicle i is Vix+Vixt, where Vix is ​​the longitudinal terminal velocity at the end of the first simulation stage; Vixt is the longitudinal velocity calculated by calling the following model with the second vehicle in the first lane as the leading vehicle at the tth simulation step.

[0209] ② Lateral vector Yit: At the t-th simulation step, the lateral vector Yit of the target vehicle i is Yit = Viy + Viyt - t·Δv. Among them, Viy is the lateral termination speed at the end of the first simulation stage; Viyt is the lateral speed corresponding to the t-th simulation step calculated according to the fifth-order polynomial method, Δv is the lateral correction speed per unit time, Δv = Viy / Tic, that is, the lateral vector needs to be corrected once Viy / Tic at each simulation step. After Tic simulation steps, the initial angle lateral speed value Viy is just corrected to 0. Because Viyt is the value obtained by the fifth-order polynomial, the lateral speed Viyt is also 0 at Tic, that is, the value of Yit at Tic is 0, so that after the completion of stage 2b, the angle between the geometric longitudinal axis of the target vehicle and the center line of the lane is 0.

[0210] As can be seen from the above, this solution simulates the simulation process of the target vehicle (such as a bus) leaving the temporary parking area (such as a bay-type bus stop) in stages, and describes the driving behavior of the target vehicle in each simulation stage respectively. Based on the staged simulation of the target vehicle, it can automatically realize the interaction with the following vehicle (i.e., the first vehicle), and can automatically complete the interaction with surrounding vehicles without manually setting virtual signs such as yielding in advance. This application automatically reproduces the driving behavior of a bus in reality when it leaves a bay-type bus stop and merges into the main line traffic flow, making the interaction between simulated vehicles closer to reality and avoiding visual distortion, so as to better serve traffic analysis and autonomous driving simulation testing.

[0211] See also Figure 8 , Figure 8 1 is a flow chart of a simulation process of a target vehicle provided in an embodiment of the present application. The simulation process is applied to a target vehicle (such as Figure 2 , the first simulated device in the Figure 8 As shown, the simulation process for the target vehicle mainly includes the following steps S801-S810:

[0212] S801: The target vehicle completes the picking up and dropping off of passengers.

[0213] When implementing it specifically, Figure 4 As shown, the target vehicle can temporarily pick up and drop off passengers in the parking area within the temporary parking area, that is, the target vehicle can temporarily park in the parking area, thereby performing the picking up and dropping off passengers in the parking area.

[0214] S802: The target vehicle moves to the exit waiting position.

[0215] In specific implementation, the target vehicle moves from the initial position of the temporary parking area (e.g. Figure 4It should be understood that, since the simulation process of the target vehicle can be divided into a first simulation stage and a second simulation stage, this step can correspond to the first simulation stage of the target vehicle (i.e., the aforementioned situation 1a).

[0216] It should be noted that the specific simulation process of the first simulation stage of the target vehicle can be referred to the relevant description in the aforementioned embodiment in detail, and will not be repeated here.

[0217] S803: The target vehicle determines whether a lane-changing safety condition is met.

[0218] In a possible implementation, when the first simulation phase for the target vehicle ends, it is determined whether the target vehicle at the designated position (i.e., the exit waiting position) meets the lane change safety condition of the first lane, and a determination result is obtained; and according to the determination result, a mobile simulation strategy of the target vehicle in the second simulation phase is determined. If yes, S804 (i.e., the aforementioned situation 2a) is executed; if no, S805 (i.e., the aforementioned situation 2b) is executed.

[0219] In specific implementation, the lane-changing safety condition here can include the following three judgment methods: ① Judging whether the target vehicle at the specified position meets the lane-changing safety condition of the first lane, and obtaining the judgment result, which can include the following process: obtaining the first distance between the target vehicle and the first vehicle in the first lane; and obtaining the second distance between the target vehicle and the second vehicle in the first lane; if the first distance is greater than the first safety threshold, and the second distance is greater than the second safety threshold, then the judgment result is determined to be that the target vehicle meets the lane-changing safety condition of the first lane; if the first distance is not greater than the first safety threshold, or the second distance is not greater than the second safety threshold, then the judgment result is determined to be that the target vehicle does not meet the lane-changing safety condition of the first lane. ② After obtaining the second distance Gi2 between the target vehicle i and the leading vehicle (i.e., the second vehicle), and the first distance Gi1 between the target vehicle i and the following vehicle (i.e., the first vehicle), the speed V1 of the following vehicle (i.e., the first vehicle) can also be obtained, and the lane-changing safety condition of the first lane is set based on the first distance Gi1, the second distance Gi2 and the speed V1 of the following vehicle. ③ After obtaining the second distance Gi2 between the target vehicle i and the leading vehicle (i.e., the second vehicle), and the first distance Gi1 between the target vehicle i and the following vehicle (i.e., the first vehicle), corresponding constant terms can be set for the first safety distance GSR and the second safety distance GSP respectively, and the lane changing safety conditions of the first lane can be set by superimposing the constant terms with the safety distances.

[0220] S804: The target vehicle changes lanes and exits the station directly without stopping.

[0221] In specific implementation, if the target vehicle meets the lane-changing safety conditions of the first lane, the target vehicle does not need to stop and wait, and can move directly from the designated position in the temporary parking area to the first lane.

[0222] S805: The target vehicle needs to stop and wait.

[0223] S806: The target vehicle determines whether a lane-changing safety condition is met.

[0224] In specific implementation, after the target vehicle stops and waits at the designated position, it can be determined in real time whether the lane change safety conditions of the first lane are met. If so, S809 is executed; if not, S807 is executed.

[0225] S807: Whether the waiting time of the target vehicle has exceeded Tmi.

[0226] The target vehicle may obtain the waiting time Twi at the designated location and the time threshold Tmi. If Twi≥Tmi, S808 is executed; if Twi<Tmi, S810 is executed.

[0227] S808: Determine whether there is a vehicle next to the vehicle. If yes, execute S810; if no, execute S809.

[0228] S809: The target vehicle continues to change lanes from the exit waiting position to the first lane.

[0229] S810: Simulation clock advances.

[0230] In the embodiment of the present application, the target vehicle can be simulated in stages, that is, the simulation process of the target vehicle is divided into a first simulation stage and a second simulation stage, so that the target vehicle has different driving behaviors in different simulation stages, and different driving behaviors can realize automatic interaction with other vehicles (such as following vehicles) in the simulation environment, and the interaction with surrounding vehicles can be automatically completed without manually setting virtual signs such as yielding in advance. The present application automatically reproduces the driving behavior of buses in real scenes when they leave the bay bus station and merge into the main line traffic flow, making the interaction between simulated vehicles closer to reality and avoiding visual distortion, so as to better serve traffic analysis and autonomous driving simulation testing.

[0231] The following is an explanation of the vehicle simulation processing device provided in the embodiment of the present application.

[0232] See also Fig. 9 , Fig. 9 Schematic diagram of the structure of a vehicle simulation processing device provided in an embodiment of the present application. Fig. 9As shown, the vehicle simulation processing device 900 can be applied to the simulation platform (such as a terminal device or a server) mentioned in the above embodiments. Specifically, the vehicle simulation processing device 900 can be a computer program (including program code) running in the simulation platform, for example, the vehicle simulation processing device 900 is an application software; the vehicle simulation processing device 900 can be used to execute the corresponding steps in the vehicle simulation processing method provided in the embodiment of the present application. In specific implementation, the vehicle simulation processing device 900 can specifically include:

[0233] The determination unit 901 is used to determine a target vehicle located in the temporary parking area in the simulation environment; the target vehicle enters the temporary parking area from the first lane;

[0234] The processing unit 902 is used to perform simulation processing on the target vehicle; the simulation processing process is used to instruct the target vehicle to move out of the temporary parking area into the first lane;

[0235] The acquisition unit 903 is used to acquire the vehicle distance between the first vehicle in the first lane and the target vehicle during the simulation process; the first vehicle is a following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane;

[0236] The processing unit 902 is also used to perform a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation process if the vehicle distance is less than a preset safety distance; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane.

[0237] In a possible implementation, the simulation process includes a first simulation stage, the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the first simulation stage; the first interactive control process includes a lane change courtesy process or a deceleration courtesy process; the processing unit 902 performs the first interactive control process on the first vehicle and the second interactive control process on the target vehicle during the simulation process, and is used to perform the following operations:

[0238] In the first simulation stage, the first vehicle is changed from the first lane to the second lane according to a first preset probability; or the first vehicle in the first lane is decelerated and courteously handled according to a second preset probability; and

[0239] In the first simulation stage, a movement simulation process is performed on the target vehicle according to a specified moving direction, so as to move the target vehicle from an initial position in the temporary parking area to a specified position in the temporary parking area.

[0240] In a possible implementation, the simulation processing process further includes a second simulation stage, and the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the second simulation stage; the processing unit 902 performs a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation processing, and is used to perform the following operations:

[0241] In the second simulation stage, the waiting time of the target vehicle at the designated position is obtained, and the first interactive control process is performed on the first vehicle according to the waiting time of the target vehicle; and,

[0242] In the second simulation stage, the target vehicle is moved from the designated position of the temporary parking area to the first lane according to the mobile simulation strategy;

[0243] Among them, the first interactive control processing is used to indicate: the longer the waiting time of the target vehicle, the greater the probability of executing the first interactive control processing on the first vehicle, and the probability includes the first preset probability of lane change courtesy processing or the second preset probability of speed reduction courtesy processing.

[0244] In a possible implementation, the simulation process includes a first simulation stage and a second simulation stage; the processing unit 902 is further configured to perform the following operations:

[0245] When the first simulation phase for the target vehicle is finished, determining whether the target vehicle at the designated position meets the lane change safety condition of the first lane, and obtaining a determination result;

[0246] According to the judgment result, the moving simulation strategy of the target vehicle in the second simulation stage is determined.

[0247] In a possible implementation, the specified moving direction is used to indicate the heading angle between the driving direction of the target vehicle in the first simulation phase and the main line driving direction of the road to which the target vehicle belongs; the processing unit 902 is further used to perform the following operations:

[0248] Obtaining a first simulation duration of a first simulation phase and a longitudinal acceleration of a target vehicle;

[0249] Determine the lateral displacement of the target vehicle from an initial position within the temporary parking area to a designated position within the temporary parking area;

[0250] Calculate the lateral terminal velocity of the target vehicle at the specified position according to the first simulation time and the lateral displacement;

[0251] Calculate the longitudinal terminal velocity of the target vehicle at the specified position according to the first simulation time and the longitudinal acceleration;

[0252] Based on the lateral terminal speed and the longitudinal terminal speed of the target vehicle, the heading angle between the driving direction of the target vehicle in the first simulation stage and the main line driving direction of the road to which the target vehicle belongs is determined.

[0253] In a possible implementation, the processing unit 902 determines the lateral displacement of the target vehicle from the initial position in the temporary parking area to the designated position in the temporary parking area, and performs the following operations:

[0254] Obtain the vehicle width of the target vehicle and the lane width corresponding to the temporary parking area;

[0255] Calculating the difference between the vehicle width and the lane width, and determining half of the difference as the first lateral displacement corresponding to the target vehicle;

[0256] Obtaining a second lateral displacement specified in the temporary stop area, the second lateral displacement being less than the first lateral displacement;

[0257] The displacement range of the target vehicle is determined based on the second lateral displacement and the first lateral displacement, and the lateral displacement of the target vehicle at the designated position is determined according to the displacement range.

[0258] In a possible implementation, the processing unit 902 determines whether the target vehicle at the specified position meets the lane change safety condition of the first lane, and obtains a determination result for performing the following operations:

[0259] Acquire a first distance between the target vehicle and a first vehicle in the first lane; and,

[0260] Acquire a second distance between the target vehicle and a second vehicle in the first lane;

[0261] If the first distance is greater than the first safety threshold, and the second distance is greater than the second safety threshold, it is determined that the target vehicle meets the lane change safety condition of the first lane;

[0262] If the first distance is not greater than the first safety threshold, or the second distance is not greater than the second safety threshold, it is determined that the judgment result is that the target vehicle does not meet the lane change safety condition of the first lane.

[0263] In a possible implementation, the mobile simulation strategy includes a first simulation sub-strategy and a second simulation sub-strategy; the processing unit 902 determines the mobile simulation strategy of the target vehicle in the second simulation stage according to the judgment result, and is used to perform the following operations:

[0264] If the target vehicle meets the lane-changing safety condition of the first lane, the movement simulation strategy of the target vehicle in the second simulation phase is determined to be the first simulation sub-strategy; the first simulation sub-strategy is used to instruct the target vehicle to immediately move from the specified position to the first lane at the end of the simulation of the first simulation phase;

[0265] If the target vehicle does not meet the lane changing safety conditions of the first lane, the moving simulation strategy of the target vehicle in the second simulation stage is determined to be the second simulation sub-strategy; the second simulation sub-strategy is used to indicate that the target vehicle needs to stop and wait at the end of the simulation of the first simulation stage, and move from the specified position to the first lane after stopping and waiting.

[0266] In a possible implementation, when the mobile simulation strategy is the first simulation sub-strategy, the first simulation sub-strategy is used to specify that the second simulation duration of the target vehicle in the second simulation phase is divided into Tic simulation steps, and the first simulation sub-strategy is used to specify that the target vehicle is simulated to move in a lateral direction and a longitudinal direction respectively; Tic is a positive integer; the processing unit 902 moves the target vehicle from the designated position of the temporary parking area to the first lane according to the mobile simulation strategy, and performs the following operations:

[0267] Calling the car-following algorithm model, based on the driving state of the first vehicle in the first lane, determines the longitudinal speed and longitudinal acceleration of the target vehicle in the longitudinal direction in each simulation step;

[0268] Determine the initial state parameters and the final state parameters of the target vehicle in the lateral direction;

[0269] According to the initial state parameters and the final state parameters, the lateral velocity and lateral acceleration of the target vehicle in the lateral direction in each simulation step are calculated by calling the fifth-order polynomial;

[0270] Determine the moving trajectory of the target vehicle in the second simulation stage according to the longitudinal velocity, longitudinal acceleration, lateral velocity, and lateral acceleration of the target vehicle in each simulation step;

[0271] According to the moving trajectory, the target vehicle is moved from the specified position to the first lane within Tic simulation steps.

[0272] In a possible implementation, the processing unit 902 determines the initial state parameters and the final state parameters of the target vehicle in the lateral direction, and performs the following operations:

[0273] Obtaining the lateral displacement of the target vehicle in the first simulation stage, and the lateral terminal velocity and lateral acceleration of the target vehicle at the end of the first simulation stage;

[0274] Determining the lateral displacement, lateral terminal velocity, and lateral acceleration of the target vehicle as initial state parameters of the target vehicle in the lateral direction; and,

[0275] Based on the lane width corresponding to the road to which the target vehicle belongs, the terminal state parameters of the target vehicle in the lateral direction are determined.

[0276] In a possible implementation, when the mobile simulation strategy is the second simulation sub-strategy, the second simulation sub-strategy is used to specify a time threshold for the target vehicle to stop and wait at a specified position; the processing unit 902 moves the target vehicle from the specified position to the first lane according to the mobile simulation strategy, and performs the following operations:

[0277] Get the waiting time that the target vehicle has been waiting at the specified location;

[0278] Acquire a first safety threshold between the target vehicle and a first vehicle in the first lane, and a second safety threshold between the target vehicle and a second vehicle in the first lane;

[0279] Determine whether the target vehicle meets the lane change safety condition at the current moment according to the waiting time, the time threshold, the first safety threshold and the second safety threshold;

[0280] If so, in the second simulation phase, the target vehicle is moved from the designated position to the first lane according to the second simulation sub-strategy.

[0281] In a possible implementation, the processing unit 902 is further configured to perform the following operations:

[0282] If the target vehicle does not meet the lane change safety condition at the current moment, and the waiting time of the target vehicle is greater than or equal to the time threshold, then determine whether there is a side vehicle associated with the target vehicle in the first lane;

[0283] If not, in the second simulation stage, the target vehicle is moved from the specified position to the first lane according to the second simulation sub-strategy.

[0284] In a possible implementation, the second simulation duration of the second simulation phase is divided into Tic simulation steps, and any simulation step corresponds to a simulation angle; the second simulation strategy is used to indicate: in the second simulation phase, the target vehicle is subjected to a moving simulation process according to the moving direction indicated by the simulation angle of each simulation step; wherein the simulation angle refers to: the angle between the geometric longitudinal axis of the target vehicle and the center line of the lane to which the target vehicle belongs; the processing unit 902 is further used to perform the following operations:

[0285] Determine the longitudinal vector of the target vehicle corresponding to the t-th simulation step based on the longitudinal terminal speed of the target vehicle at the end of the first simulation stage and the longitudinal speed of the target vehicle corresponding to the t-th simulation step;

[0286] Determine a lateral vector of the target vehicle corresponding to the t-th simulation step based on the lateral terminal velocity of the target vehicle at the end of the first simulation stage and the lateral velocity of the target vehicle corresponding to the t-th simulation step;

[0287] According to the longitudinal vector and the lateral vector, the target angle of the target vehicle corresponding to the t-th simulation step is calculated, 1≤t≤Tic.

[0288] In a possible implementation, the processing unit 902 determines the lateral vector corresponding to the t-th simulation step of the target vehicle based on the lateral terminal velocity of the target vehicle at the end of the first simulation stage and the lateral velocity of the target vehicle corresponding to the t-th simulation step, and performs the following operations:

[0289] Determine the lateral correction speed per unit time according to the lateral termination speed of the target vehicle at the end of the first simulation stage and the second simulation duration;

[0290] Based on the lateral correction speed per unit time, calculate the correction speed corresponding to the t-th simulation step;

[0291] Calculate the sum of the lateral terminal velocity of the target vehicle and the lateral velocity corresponding to the t-th simulation step; and,

[0292] The difference between the sum speed and the corrected speed corresponding to the t-th simulation step is used as the lateral vector of the target vehicle corresponding to the t-th simulation step.

[0293] In an embodiment of the present application, a simulation environment includes a first lane and a temporary parking area adjacent to the first lane, and a target vehicle located in the temporary parking area in the simulation environment can be determined, and the target vehicle enters the temporary parking area from the first lane; a simulation process is performed on the target vehicle, and the simulation process here is used to indicate that the target vehicle is driven out of the temporary parking area and into the first lane; and in the process of the simulation process, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane; if the vehicle distance is less than the preset safety distance, a first interactive control process is performed on the first vehicle during the simulation process, and a second interactive control process is performed on the target vehicle; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane. It can be seen that during the simulation processing, interactive control processing can be performed on the first vehicle and the target vehicle respectively according to the vehicle distance between the first vehicle and the target vehicle, that is, automatic interaction between the first vehicle and the target vehicle can be achieved according to their respective driving states, without the need to manually set virtual signs for the vehicles, so that the present application can improve the convenience and efficiency of the simulation processing; further, since the interaction between vehicles can be automatically achieved according to the distance between the vehicles, the simulation process can more accurately reproduce the real scene.

[0294] See also Fig.10 , Fig.10 1 is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. The computer device 1000 is used to execute the steps performed by the simulation platform, or the first simulation device, or the second simulation device in the aforementioned method embodiment, and the computer device 1000 includes: one or more processors 1001; one or more input devices 1002, one or more output devices 1003 and a memory 1004. The above-mentioned processors 1001, input devices 1002, output devices 1003 and memory 1004 are connected via a bus 1005. Among them, the memory 1004 is used to store computer programs, and the computer programs include program instructions. Specifically, the processor 1001 is used to call the program instructions stored in the memory 1104 to perform the following operations:

[0295] Determine the target vehicle located in the temporary parking area in the simulation environment; the target vehicle enters the temporary parking area from the first lane;

[0296] The target vehicle is simulated; the simulation process is used to instruct the target vehicle to move out of the temporary parking area and into the first lane;

[0297] During the simulation process, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane;

[0298] If the vehicle distance is less than the preset safety distance, the first interactive control process is performed on the first vehicle and the second interactive control process is performed on the target vehicle during the simulation process; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane.

[0299] In a possible implementation, the simulation process includes a first simulation stage, the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the first simulation stage; the first interactive control process includes a lane change courtesy process or a deceleration courtesy process; the processor 1001 performs the first interactive control process on the first vehicle and the second interactive control process on the target vehicle during the simulation process, and is used to perform the following operations:

[0300] In the first simulation stage, the first vehicle is changed from the first lane to the second lane according to a first preset probability; or the first vehicle in the first lane is decelerated and courteously handled according to a second preset probability; and

[0301] In the first simulation stage, a movement simulation process is performed on the target vehicle according to a specified moving direction, so as to move the target vehicle from an initial position in the temporary parking area to a specified position in the temporary parking area.

[0302] In a possible implementation, the simulation processing process further includes a second simulation stage, and the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the second simulation stage; the processor 1001 performs a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation processing, and is used to perform the following operations:

[0303] In the second simulation stage, the waiting time of the target vehicle at the designated position is obtained, and the first interactive control process is performed on the first vehicle according to the waiting time of the target vehicle; and,

[0304] In the second simulation stage, the target vehicle is moved from the designated position of the temporary parking area to the first lane according to the mobile simulation strategy;

[0305] Among them, the first interactive control processing is used to indicate: the longer the waiting time of the target vehicle, the greater the probability of executing the first interactive control processing on the first vehicle, and the probability includes the first preset probability of lane change courtesy processing or the second preset probability of speed reduction courtesy processing.

[0306] In a possible implementation, the simulation process includes a first simulation stage and a second simulation stage; the processor 1001 is further configured to perform the following operations:

[0307] When the first simulation phase for the target vehicle is finished, determining whether the target vehicle at the designated position meets the lane change safety condition of the first lane, and obtaining a determination result;

[0308] According to the judgment result, the moving simulation strategy of the target vehicle in the second simulation stage is determined.

[0309] In a possible implementation, the specified moving direction is used to indicate the heading angle between the driving direction of the target vehicle in the first simulation phase and the main line driving direction of the road to which the target vehicle belongs; the processor 1001 is further used to perform the following operations:

[0310] Obtaining a first simulation duration of a first simulation phase and a longitudinal acceleration of a target vehicle;

[0311] Determine the lateral displacement of the target vehicle from an initial position within the temporary parking area to a designated position within the temporary parking area;

[0312] Calculate the lateral terminal velocity of the target vehicle at the specified position according to the first simulation time and the lateral displacement;

[0313] Calculate the longitudinal terminal velocity of the target vehicle at the specified position according to the first simulation time and the longitudinal acceleration;

[0314] Based on the lateral terminal speed and the longitudinal terminal speed of the target vehicle, the heading angle between the driving direction of the target vehicle in the first simulation stage and the main line driving direction of the road to which the target vehicle belongs is determined.

[0315] In a possible implementation, the processor 1001 determines the lateral displacement of the target vehicle from the initial position in the temporary parking area to the designated position in the temporary parking area, and performs the following operations:

[0316] Obtain the vehicle width of the target vehicle and the lane width corresponding to the temporary parking area;

[0317] Calculating the difference between the vehicle width and the lane width, and determining half of the difference as the first lateral displacement corresponding to the target vehicle;

[0318] Obtaining a second lateral displacement specified in the temporary stop area, the second lateral displacement being less than the first lateral displacement;

[0319] The displacement range of the target vehicle is determined based on the second lateral displacement and the first lateral displacement, and the lateral displacement of the target vehicle at the designated position is determined according to the displacement range.

[0320] In a possible implementation, the processor 1001 determines whether the target vehicle at the specified position meets the lane change safety condition of the first lane, and obtains a determination result for performing the following operations:

[0321] Acquire a first distance between the target vehicle and a first vehicle in the first lane; and,

[0322] Acquire a second distance between the target vehicle and a second vehicle in the first lane;

[0323] If the first distance is greater than the first safety threshold, and the second distance is greater than the second safety threshold, it is determined that the target vehicle meets the lane change safety condition of the first lane;

[0324] If the first distance is not greater than the first safety threshold, or the second distance is not greater than the second safety threshold, it is determined that the judgment result is that the target vehicle does not meet the lane change safety condition of the first lane.

[0325] In a possible implementation, the mobile simulation strategy includes a first simulation sub-strategy and a second simulation sub-strategy; the processor 1001 determines the mobile simulation strategy of the target vehicle in the second simulation stage according to the judgment result, and is used to perform the following operations:

[0326] If the target vehicle meets the lane-changing safety condition of the first lane, the movement simulation strategy of the target vehicle in the second simulation phase is determined to be the first simulation sub-strategy; the first simulation sub-strategy is used to instruct the target vehicle to immediately move from the specified position to the first lane at the end of the simulation of the first simulation phase;

[0327] If the target vehicle does not meet the lane changing safety conditions of the first lane, the moving simulation strategy of the target vehicle in the second simulation stage is determined to be the second simulation sub-strategy; the second simulation sub-strategy is used to indicate that the target vehicle needs to stop and wait at the end of the simulation of the first simulation stage, and move from the specified position to the first lane after stopping and waiting.

[0328] In a possible implementation, when the mobile simulation strategy is the first simulation sub-strategy, the first simulation sub-strategy is used to specify that the second simulation duration of the target vehicle in the second simulation phase is divided into Tic simulation steps, and the first simulation sub-strategy is used to specify that the target vehicle is simulated moved in the lateral direction and the longitudinal direction respectively; Tic is a positive integer; the processor 1001 moves the target vehicle from the designated position of the temporary parking area to the first lane according to the mobile simulation strategy, and performs the following operations:

[0329] Calling the car-following algorithm model, based on the driving state of the first vehicle in the first lane, determines the longitudinal speed and longitudinal acceleration of the target vehicle in the longitudinal direction in each simulation step;

[0330] Determine the initial state parameters and the final state parameters of the target vehicle in the lateral direction;

[0331] According to the initial state parameters and the final state parameters, the lateral velocity and lateral acceleration of the target vehicle in the lateral direction in each simulation step are calculated by calling the fifth-order polynomial;

[0332] Determine the moving trajectory of the target vehicle in the second simulation stage according to the longitudinal velocity, longitudinal acceleration, lateral velocity, and lateral acceleration of the target vehicle in each simulation step;

[0333] According to the moving trajectory, the target vehicle is moved from the specified position to the first lane within Tic simulation steps.

[0334] In a possible implementation, the processor 1001 determines the initial state parameters and the final state parameters of the target vehicle in the lateral direction, and performs the following operations:

[0335] Obtaining the lateral displacement of the target vehicle in the first simulation stage, and the lateral terminal velocity and lateral acceleration of the target vehicle at the end of the first simulation stage;

[0336] Determining the lateral displacement, lateral terminal velocity, and lateral acceleration of the target vehicle as initial state parameters of the target vehicle in the lateral direction; and,

[0337] Based on the lane width corresponding to the road to which the target vehicle belongs, the terminal state parameters of the target vehicle in the lateral direction are determined.

[0338] In a possible implementation, when the mobile simulation strategy is the second simulation sub-strategy, the second simulation sub-strategy is used to specify a time threshold for the target vehicle to stop and wait at a specified position; the processor 1001 moves the target vehicle from the specified position to the first lane according to the mobile simulation strategy, and performs the following operations:

[0339] Get the waiting time that the target vehicle has been waiting at the specified location;

[0340] Acquire a first safety threshold between the target vehicle and a first vehicle in the first lane, and a second safety threshold between the target vehicle and a second vehicle in the first lane;

[0341] Determine whether the target vehicle meets the lane change safety condition at the current moment according to the waiting time, the time threshold, the first safety threshold and the second safety threshold;

[0342] If so, in the second simulation phase, the target vehicle is moved from the designated position to the first lane according to the second simulation sub-strategy.

[0343] In a possible implementation manner, the processor 1001 is further configured to perform the following operations:

[0344] If the target vehicle does not meet the lane change safety condition at the current moment, and the waiting time of the target vehicle is greater than or equal to the time threshold, then determine whether there is a side vehicle associated with the target vehicle in the first lane;

[0345] If not, in the second simulation stage, the target vehicle is moved from the specified position to the first lane according to the second simulation sub-strategy.

[0346] In a possible implementation, the second simulation duration of the second simulation phase is divided into Tic simulation steps, and any simulation step corresponds to a simulation angle; the second simulation strategy is used to indicate: in the second simulation phase, the target vehicle is subjected to a moving simulation process according to the moving direction indicated by the simulation angle of each simulation step; wherein the simulation angle refers to: the angle between the geometric longitudinal axis of the target vehicle and the center line of the lane to which the target vehicle belongs; the processor 1001 is further used to perform the following operations:

[0347] Determine the longitudinal vector of the target vehicle corresponding to the t-th simulation step based on the longitudinal terminal speed of the target vehicle at the end of the first simulation stage and the longitudinal speed of the target vehicle corresponding to the t-th simulation step;

[0348] Determine a lateral vector of the target vehicle corresponding to the t-th simulation step based on the lateral terminal velocity of the target vehicle at the end of the first simulation stage and the lateral velocity of the target vehicle corresponding to the t-th simulation step;

[0349] According to the longitudinal vector and the lateral vector, the target angle of the target vehicle corresponding to the t-th simulation step is calculated, 1≤t≤Tic.

[0350] In a possible implementation, the processor 1001 determines the lateral vector corresponding to the t-th simulation step of the target vehicle based on the lateral terminal velocity of the target vehicle at the end of the first simulation stage and the lateral velocity of the target vehicle corresponding to the t-th simulation step, and performs the following operations:

[0351] Determine the lateral correction speed per unit time according to the lateral termination speed of the target vehicle at the end of the first simulation stage and the second simulation duration;

[0352] Based on the lateral correction speed per unit time, calculate the correction speed corresponding to the t-th simulation step;

[0353] Calculate the sum of the lateral terminal velocity of the target vehicle and the lateral velocity corresponding to the t-th simulation step; and,

[0354] The difference between the sum speed and the corrected speed corresponding to the t-th simulation step is used as the lateral vector of the target vehicle corresponding to the t-th simulation step.

[0355] In an embodiment of the present application, a simulation environment includes a first lane and a temporary parking area adjacent to the first lane, and a target vehicle located in the temporary parking area in the simulation environment can be determined, and the target vehicle enters the temporary parking area from the first lane; a simulation process is performed on the target vehicle, and the simulation process here is used to indicate that the target vehicle is driven out of the temporary parking area and into the first lane; and in the process of the simulation process, the vehicle distance between the first vehicle in the first lane and the target vehicle is obtained; the first vehicle is the following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle in the first lane and adjacent to the target vehicle before the target vehicle enters the temporary parking area from the first lane; if the vehicle distance is less than the preset safety distance, a first interactive control process is performed on the first vehicle during the simulation process, and a second interactive control process is performed on the target vehicle; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane. It can be seen that during the simulation processing, interactive control processing can be performed on the first vehicle and the target vehicle respectively according to the vehicle distance between the first vehicle and the target vehicle, that is, automatic interaction between the first vehicle and the target vehicle can be achieved according to their respective driving states, without the need to manually set virtual signs for the vehicles, so that the present application can improve the convenience and efficiency of the simulation processing; further, since the interaction between vehicles can be automatically achieved according to the distance between the vehicles, the simulation process can more accurately reproduce the real scene.

[0356] In the embodiments of the present application, the term "module" or "unit" refers to a computer program or a part of a computer program with a predetermined function, and works together with other related parts to achieve a predetermined goal, and can be implemented in whole or in part by using software, hardware (such as processing circuits or memories) or a combination thereof. Similarly, a processor (or multiple processors or memories) can be used to implement one or more modules or units. In addition, each module or unit can be part of an overall module or unit that includes the function of the module or unit.

[0357] In addition, it should be pointed out here that: the embodiment of the present application also provides a computer storage medium, and a computer program is stored in the computer storage medium, and the computer program includes program instructions. When the processor executes the above program instructions, the method in the corresponding embodiment of the foregoing text can be executed, so it will not be repeated here. For technical details not disclosed in the computer storage medium embodiment involved in this application, please refer to the description of the method embodiment of this application. As an example, the program instructions can be deployed on a computer device, or executed on multiple computer devices located in one place, or, executed on multiple computer devices distributed in multiple locations and interconnected by a communication network.

[0358] According to one aspect of the present application, an embodiment of the present application further provides a computer program product or a computer program, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device can execute the method in the above corresponding embodiment, and therefore, it will not be described in detail here.

[0359] A person skilled in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in this application 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. A person skilled in the art 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.

[0360] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted through a computer-readable storage medium. The computer instructions can be transmitted from a website site, a computer, a server or a data center to another website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data processing device such as a server, a data center, etc. that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)), etc.

[0361] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A vehicle simulation processing method, It is characterized in that The simulation environment corresponding to the simulation processing method includes a first lane and a temporary parking area adjacent to the first lane; the method includes: Determine a target vehicle located in the temporary parking area in a simulation environment; the target vehicle enters the temporary parking area from the first lane; Performing simulation processing on the target vehicle; the simulation processing process is used to instruct the target vehicle to drive out of the temporary parking area into the first lane; During the simulation process, a vehicle distance between a first vehicle in the first lane and the target vehicle is obtained; the first vehicle is a following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle and adjacent to the target vehicle in the first lane before the target vehicle enters the temporary parking area from the first lane; If the vehicle distance is less than the preset safety distance, a first interactive control process is performed on the first vehicle and a second interactive control process is performed on the target vehicle during the simulation process; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane.

2. The method according to claim 1, It is characterized in that The simulation process includes a first simulation stage, the vehicle distance includes the vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the first simulation stage; the first interactive control process includes a lane change courtesy process or a speed reduction courtesy process; The performing of a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation process includes: In the first simulation stage, the first vehicle is changed from the first lane to the second lane according to a first preset probability; or the first vehicle in the first lane is decelerated and given way according to a second preset probability; and, In the first simulation stage, a movement simulation process is performed on the target vehicle according to a specified moving direction, so as to move the target vehicle from an initial position in the temporary parking area to a specified position in the temporary parking area.

3. The method according to claim 2, It is characterized in that The simulation process further includes a second simulation stage, wherein the vehicle distance includes a vehicle distance between the first vehicle and the target vehicle obtained by any simulation step in the second simulation stage; The performing of a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation process includes: In the second simulation stage, the waiting time of the target vehicle at the designated position is obtained, and a first interactive control process is performed on the first vehicle according to the waiting time of the target vehicle; and In the second simulation stage, the target vehicle is moved from a designated position of the temporary parking area to the first lane according to a movement simulation strategy; Among them, the first interactive control processing is used to indicate: the longer the waiting time of the target vehicle, the greater the probability of executing the first interactive control processing on the first vehicle, and the probability includes a first preset probability of lane change courtesy processing or a second preset probability of speed reduction courtesy processing.

4. The method according to claim 2 or 3, It is characterized in that The simulation process includes a first simulation stage and a second simulation stage; the method further includes: When the first simulation phase for the target vehicle is finished, determining whether the target vehicle at the designated position meets the lane change safety condition of the first lane, and obtaining a determination result; According to the judgment result, a movement simulation strategy of the target vehicle in the second simulation stage is determined.

5. The method according to claim 4, It is characterized in that The specified moving direction is used to indicate the heading angle between the driving direction of the target vehicle in the first simulation stage and the main line driving direction of the road to which the target vehicle belongs; The method further comprises: Acquire a first simulation duration of the first simulation phase and a longitudinal acceleration of the target vehicle; Determine the lateral displacement of the target vehicle from an initial position in the temporary parking area to a designated position in the temporary parking area; Calculating the lateral terminal velocity of the target vehicle at the specified position according to the first simulation time and the lateral displacement; Calculating the longitudinal terminal velocity of the target vehicle at the designated position according to the first simulation time and the longitudinal acceleration; Based on the lateral terminal speed and the longitudinal terminal speed of the target vehicle, a heading angle between the driving direction of the target vehicle in the first simulation stage and the main line driving direction of the road to which the target vehicle belongs is determined.

6. The method according to claim 5, It is characterized in that The determining the lateral displacement of the target vehicle from an initial position in the temporary parking area to a designated position in the temporary parking area includes: Obtaining the vehicle width of the target vehicle and the lane width corresponding to the temporary parking area; Calculating a difference between the vehicle width and the lane width, and determining half of the difference as a first lateral displacement corresponding to the target vehicle; Acquire a second lateral displacement specified in the temporary parking area, wherein the second lateral displacement is smaller than the first lateral displacement; The displacement range of the target vehicle is determined based on the second lateral displacement and the first lateral displacement, and the lateral displacement of the target vehicle at the designated position is determined according to the displacement range.

7. The method according to claim 4, It is characterized in that The determining whether the target vehicle at the designated position meets the lane change safety condition of the first lane and obtaining a determination result includes: acquiring a first distance between the target vehicle and a first vehicle in the first lane; and, Acquire a second distance between the target vehicle and a second vehicle in the first lane; If the first distance is greater than the first safety threshold and the second distance is greater than the second safety threshold, determine that the judgment result is that the target vehicle meets the lane-changing safety condition of the first lane; If the first distance is not greater than the first safety threshold or the second distance is not greater than the second safety threshold, determine that the judgment result is that the target vehicle does not meet the lane-changing safety condition of the first lane.

8. The method according to claim 7, wherein, the mobile simulation strategy includes a first simulation sub-strategy and a second simulation sub-strategy; determining the mobile simulation strategy of the target vehicle in the second simulation stage according to the judgment result includes: If the target vehicle meets the lane-changing safety condition of the first lane, determine that the mobile simulation strategy of the target vehicle in the second simulation stage is the first simulation sub-strategy; the first simulation sub-strategy is used to instruct the target vehicle to immediately move from the specified position to within the first lane at the end of the simulation in the first simulation stage; If the target vehicle does not meet the lane-changing safety condition of the first lane, determine that the mobile simulation strategy of the target vehicle in the second simulation stage is the second simulation sub-strategy; the second simulation sub-strategy is used to instruct the target vehicle to perform a parking waiting process at the end of the simulation in the first simulation stage, and move from the specified position to within the first lane after the parking waiting.

9. The method according to claim 8, wherein, When the mobile simulation strategy is the first simulation sub-strategy, the first simulation sub-strategy is used to stipulate that the second simulation duration of the target vehicle in the second simulation stage is divided into Tic simulation steps, and the first simulation sub-strategy is used to stipulate that the target vehicle is simulated and moved respectively in the lateral direction and the longitudinal direction; Tic is a positive integer; Moving the target vehicle from the specified position in the temporary parking area to within the first lane according to the mobile simulation strategy includes: Invoking a car-following algorithm model, and determining the longitudinal speed and longitudinal acceleration of the target vehicle in the longitudinal direction in each simulation step based on the driving state of the first vehicle in the first lane; Determining the initial state parameters and termination state parameters of the target vehicle in the lateral direction; According to the initial state parameters and termination state parameters, calling a fifth-degree polynomial to calculate the lateral speed and lateral acceleration of the target vehicle in the lateral direction in each simulation step; Determining the moving trajectory of the target vehicle in the second simulation stage according to the longitudinal speed, longitudinal acceleration, lateral speed, and lateral acceleration of the target vehicle in each simulation step; Moving the target vehicle from the specified position to within the first lane within the Tic simulation steps according to the moving trajectory.

10. The method according to claim 9, wherein, Determining the initial state parameters and termination state parameters of the target vehicle in the lateral direction includes: Acquire the lateral displacement of the target vehicle in the first simulation stage, and the lateral terminal velocity and lateral acceleration of the target vehicle at the end of the first simulation stage; Determining the lateral displacement, lateral terminal velocity, and lateral acceleration of the target vehicle as initial state parameters of the target vehicle in the lateral direction; and, Based on the lane width corresponding to the road to which the target vehicle belongs, a terminal state parameter of the target vehicle in a lateral direction is determined.

11. The method according to claim 8, It is characterized in that When the mobile simulation strategy is the second simulation sub-strategy, the second simulation sub-strategy is used to specify a time threshold for the target vehicle to stop and wait at the designated location; The step of moving the target vehicle from the designated position to the first lane according to the mobile simulation strategy includes: Obtaining the waiting time that the target vehicle has been waiting at the designated location; Acquire a first safety threshold between the target vehicle and a first vehicle in the first lane, and a second safety threshold between the target vehicle and a second vehicle in the first lane; Determining whether the target vehicle meets the lane change safety condition at the current moment according to the waiting time, the time threshold, the first safety threshold, and the second safety threshold; If so, in the second simulation stage, the target vehicle is moved from the designated position to the first lane according to the second simulation sub-strategy.

12. The method according to claim 11, It is characterized in that The method further comprises: If the target vehicle does not meet the lane-changing safety condition at the current moment, and the waiting time of the target vehicle is greater than or equal to the time threshold, determining whether there is a side vehicle associated with the target vehicle in the first lane; If not, in the second simulation stage, the target vehicle is moved from the designated position to the first lane according to the second simulation sub-strategy.

13. The method according to claim 11 or 12, It is characterized in that The second simulation duration of the second simulation phase is divided into Tic simulation steps, and any simulation step corresponds to a simulation angle; the second simulation strategy is used to indicate: in the second simulation phase, the target vehicle is subjected to movement simulation processing according to the moving direction indicated by the simulation angle of each simulation step; wherein the simulation angle refers to: the angle between the geometric longitudinal axis of the target vehicle and the center line of the lane to which the target vehicle belongs; the method further includes: Determine the longitudinal vector of the target vehicle corresponding to the t-th simulation step based on the longitudinal terminal speed of the target vehicle at the end of the first simulation stage and the longitudinal speed of the target vehicle corresponding to the t-th simulation step; Determine the lateral vector of the target vehicle corresponding to the t-th simulation step based on the lateral terminal speed of the target vehicle at the end of the first simulation stage and the lateral speed of the target vehicle corresponding to the t-th simulation step; According to the longitudinal vector and the lateral vector, the target angle of the target vehicle corresponding to the t-th simulation step is calculated, 1≤t≤Tic.

14. The method according to claim 13, It is characterized in that The determining, based on the lateral terminal velocity of the target vehicle at the end of the first simulation stage and the lateral velocity of the target vehicle corresponding to the t-th simulation step, the lateral vector of the target vehicle corresponding to the t-th simulation step comprises: Determining a lateral correction speed per unit time according to the lateral termination speed of the target vehicle at the end of the first simulation stage and the second simulation duration; Based on the lateral correction speed per unit time, calculating the correction speed corresponding to the t-th simulation step; Calculating the sum of the lateral terminal velocity of the target vehicle and the lateral velocity corresponding to the t-th simulation step; and, The difference between the sum speed and the corrected speed corresponding to the t-th simulation step is used as the lateral vector of the target vehicle corresponding to the t-th simulation step.

15. A vehicle simulation processing device, It is characterized in that The simulation environment corresponding to the simulation processing device includes a first lane and a temporary parking area adjacent to the first lane; the device includes: A determination unit is used to determine a target vehicle located in the temporary parking area in a simulation environment; the target vehicle enters the temporary parking area from the first lane; A processing unit, configured to perform simulation processing on the target vehicle; the simulation processing process is used to instruct the target vehicle to drive out of the temporary parking area into the first lane; an acquisition unit, configured to acquire, during the simulation process, a vehicle distance between a first vehicle in the first lane and the target vehicle; the first vehicle is a following vehicle of the target vehicle; the following vehicle refers to a vehicle that is located behind the target vehicle and adjacent to the target vehicle in the first lane before the target vehicle enters the temporary parking area from the first lane; The processing unit is also used to perform a first interactive control process on the first vehicle and a second interactive control process on the target vehicle during the simulation process if the vehicle distance is less than a preset safety distance; wherein the first interactive control process is used to control the first vehicle to give way to the target vehicle; and the second interactive control process is used to control the target vehicle to move from the temporary parking area to the first lane.

16. A computer device, It is characterized in that include: storage devices and processors; a memory storing one or more computer programs; A processor, used to load the one or more computer programs to implement the vehicle simulation processing method as described in any one of claims 1-14.

17. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor and executing the vehicle simulation processing method according to any one of claims 1 to 14.

18. A computer program product, It is characterized in that The computer program product comprises a computer program, which is suitable for being loaded by a processor and executing the vehicle simulation processing method according to any one of claims 1 to 14.

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