Vehicle simulation method and device, electronic equipment, storage medium and program product

Abstract

The embodiment of the invention provides a vehicle simulation method and device, electronic equipment, a storage medium and a program product, and can be applied to the field of traffic. According to the invention, vehicle information in a parallel simulation parking space can be obtained, wherein the vehicle information comprises a vehicle position and reference simulation data of a target simulation vehicle and candidate vehicle positions of vehicles adjacent to the target simulation vehicle; based on the vehicle position and the candidate vehicle position, determining collision data between the target simulation vehicle and the adjacent vehicle; performing motion simulation on the target simulation vehicle according to the reference simulation data to obtain motion simulation data; performing safety verification on the target simulation vehicle based on the collision data and the motion simulation data; and when the verification is passed, screening out target motion simulation data from the motion simulation data according to the reference simulation data, and generating a driving track of the target simulation vehicle cutting out the parallel simulation parking space based on the target motion simulation data. According to the invention, the simulation efficiency and the simulation accuracy of the vehicle driving track can be improved.

Description

Technical Field

[0001] The present application relates to the field of simulation technology, and particularly to a vehicle simulation method, device, electronic device, storage medium and program product. The storage medium is a computer-readable storage medium, and the program product is a computer program product. Background Art

[0002] Currently, it is possible to simulate the driving trajectory of a vehicle through simulation software to simulate the actual driving trajectory of the vehicle. For example, it is possible to simulate the driving trajectory of a vehicle cutting out from a parallel parking space and entering a lane. Among them, a parallel parking space may refer to a parking space parallel to the road, where the vehicle needs to drive along the front-back direction of the parking space when entering and leaving.

[0003] However, when simulating the driving trajectory of a vehicle cutting out from a parallel parking space, many parameters need to be manually set to simulate the driving trajectory of the vehicle cutting out from the parallel parking space, resulting in difficulty in quickly generating the driving trajectory of the vehicle cutting out. Moreover, the parameters manually set may not be accurate enough, which will also lead to a discrepancy between the simulation result and the actual situation.

[0004] In summary, there are currently problems of low simulation efficiency and low simulation accuracy for the driving trajectory of a vehicle. Summary of the Invention

[0005] Embodiments of the present application provide a vehicle simulation method, device, electronic device, storage medium and program product, which can improve the simulation efficiency and simulation accuracy of the vehicle driving trajectory.

[0006] A vehicle simulation method includes:

[0007] Obtain vehicle information in a parallel simulation parking space, where the vehicle information includes the vehicle position and reference simulation data of a target simulation vehicle, and the candidate vehicle positions of adjacent vehicles of the target simulation vehicle;

[0008] Based on the vehicle position and the candidate vehicle positions, determine at least one dimension of collision data between the target simulation vehicle and the adjacent vehicles;

[0009] According to the reference simulation data, perform motion simulation on the target simulation vehicle to obtain motion simulation data corresponding to the target simulation vehicle in each dimension;

[0010] Based on the collision data and the motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data;

[0011] When the verification is passed, screen out target motion simulation data from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, generate the driving trajectory of the target simulation vehicle cutting out from the parallel simulation parking space.

[0012] Accordingly, an embodiment of the present application provides a vehicle simulation device, including:

[0013] An acquisition unit, which can be used to acquire vehicle information in a parallel simulation parking space. The vehicle information includes the vehicle position and reference simulation data of a target simulation vehicle, and the candidate vehicle positions of adjacent vehicles of the target simulation vehicle;

[0014] A determination unit, which can be used to determine collision data in at least one dimension between the target simulation vehicle and adjacent vehicles based on the vehicle position and candidate vehicle positions;

[0015] A simulation unit, which can be used to perform motion simulation on the target simulation vehicle according to the reference simulation data to obtain motion simulation data corresponding to each dimension of the target simulation vehicle;

[0016] A verification unit, which can be used to perform safety verification on the target simulation vehicle under the reference simulation data based on the collision data and motion simulation data;

[0017] A generation unit, which can be used to, when the verification is passed, screen out target motion simulation data from the motion simulation data according to the reference simulation data, and generate a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space based on the target motion simulation data.

[0018] Optionally, in some embodiments, the verification unit can be used to determine a target dimension in the dimension, and extract target collision data corresponding to the target dimension from the collision data; query the safety motion simulation data corresponding to the target dimension in the motion simulation data based on the target collision data to obtain a query result; when there is safety motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data according to the safety motion simulation data to obtain a verification result.

[0019] Optionally, in some embodiments, the verification unit can be used to screen out candidate dimensions in the dimension, and determine candidate collision data corresponding to the candidate dimensions in the collision data; extract candidate motion simulation data corresponding to the candidate dimensions in the motion simulation data according to the safety motion simulation data; verify the candidate motion simulation data based on the candidate collision data to obtain a verification result.

[0020] Optionally, in some embodiments, the verification unit may be configured to determine multiple basic motion simulation data corresponding to a target dimension in the motion simulation data, and determine reference motion simulation data that are adjacent in sequence in the basic motion simulation data; compare the target collision data with the reference motion simulation data to obtain a comparison result; when the comparison result indicates that the target collision data is between the adjacent reference motion simulation data, determine that there is safe motion simulation data in the query result; when the comparison result indicates that the target collision data is not between the adjacent reference motion simulation data, determine that there is no safe motion simulation data in the query result.

[0021] Optionally, in some embodiments, the simulation unit may be configured to identify target simulation data corresponding to a target dimension and multiple candidate simulation data corresponding to candidate dimensions in the reference simulation data; fuse the candidate simulation data to obtain candidate motion simulation data corresponding to the candidate dimensions of the target simulation vehicle; determine target motion simulation data corresponding to the target dimension of the target simulation vehicle based on the target simulation data and the candidate simulation data; generate motion simulation data corresponding to each dimension of the target simulation vehicle according to the candidate motion simulation data and the target motion simulation data.

[0022] Optionally, in some embodiments, the simulation unit may be configured to fuse the candidate simulation data to obtain candidate motion virtual data corresponding to the candidate dimensions of the target simulation vehicle; obtain motion adjustment data of the target simulation vehicle, and adjust the candidate motion virtual data based on the motion adjustment data to obtain candidate motion simulation data corresponding to the candidate dimensions of the target simulation vehicle.

[0023] Optionally, in some embodiments, the candidate motion virtual data includes multiple sub-motion virtual data; the simulation unit may be configured to screen out target sub-motion virtual data from the sub-motion virtual data, and obtain preset movement data corresponding to the candidate dimensions of the target simulation vehicle; fuse the target sub-motion virtual data and the preset movement data to obtain motion adjustment data of the target simulation vehicle.

[0024] Optionally, in some embodiments, the simulation unit may be configured to calculate alternative motion data of the target simulation vehicle in the target dimension based on the target simulation data and the candidate simulation data, and obtain preset motion limit data corresponding to the target dimension of the target simulation vehicle; screen out initial simulation data of the target simulation vehicle from the alternative motion data and the preset motion limit data; perform simulation on the target simulation vehicle in the target dimension based on the initial simulation data to obtain target motion simulation data corresponding to the target dimension of the target simulation vehicle.

[0025] Optionally, in some embodiments, the simulation unit can be used to use the preset motion limit data as the initial simulation data of the target simulation vehicle when the alternative motion data is greater than the preset motion limit data; and use the alternative motion data as the initial simulation data of the target simulation vehicle when the alternative motion data is less than or equal to the preset motion limit data.

[0026] Optionally, in some embodiments, the generating unit can also be used to, when the verification fails, obtain the simulation correction data of the target simulation vehicle, and based on the simulation correction data, correct the reference simulation data to obtain the corrected simulation data; based on the corrected simulation data, perform simulation on the target simulation vehicle to obtain the dimension motion simulation data corresponding to the target simulation vehicle in at least one dimension, and generate alternative motion simulation data according to the dimension motion simulation data; use the alternative motion simulation data as the motion simulation data, and return to execute the step of performing safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data until the safety verification of the target simulation vehicle passes, so as to obtain the driving trajectory of the target simulation vehicle when cutting out of the parallel simulation parking space.

[0027] Optionally, in some embodiments, the determining unit can be used to obtain the historical vehicle positions of adjacent vehicles, and based on the historical vehicle positions and the candidate vehicle positions, determine the vehicle position states of the adjacent vehicles; when the vehicle position state is that the vehicle has moved, based on the vehicle positions and the candidate vehicle positions, determine the collision data in at least one dimension between the target simulation vehicle and the adjacent vehicles.

[0028] In addition, an embodiment of the present invention further provides an electronic device, including a processor and a memory, where the memory stores an application program, and the processor is used to run the application program in the memory to implement the vehicle simulation method provided by the embodiment of the present invention.

[0029] In addition, an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute any vehicle simulation method provided by the embodiment of the present application.

[0030] In addition, an embodiment of the present application further provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements any vehicle simulation method provided by the embodiment of the present application.

[0031] This application can obtain vehicle information in a parallel simulation parking space. The vehicle information includes the vehicle position and reference simulation data of a target simulation vehicle, as well as the candidate vehicle positions of adjacent vehicles of the target simulation vehicle. Based on the vehicle position and the candidate vehicle positions, at least one-dimensional collision data between the target simulation vehicle and the adjacent vehicles is determined. According to the reference simulation data, motion simulation of the target simulation vehicle is performed to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension. Based on the collision data and the motion simulation data, safety verification of the target simulation vehicle under the reference simulation data is carried out. When the verification passes, target motion simulation data is screened out from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space is generated. Since this application can use the vehicle position and the candidate vehicle positions to determine the collision data between the target simulation vehicle and the adjacent vehicles in the parallel simulation parking space, and perform motion simulation on the target simulation vehicle based on the reference simulation data of the target simulation vehicle to obtain the motion simulation data of the target simulation vehicle, in this way, the collision data and the motion simulation data can be used to perform safety verification on the target simulation vehicle to improve the accuracy of the reference simulation data. Thus, when the verification passes, based on the target motion simulation data screened out from the motion simulation data, a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space can be quickly generated to improve the simulation efficiency and simulation accuracy of the vehicle driving trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 is a schematic diagram of the scenario of the vehicle simulation method provided by the embodiment of the present application;

[0034] Figure 2 is a schematic flowchart of the vehicle simulation method provided by the embodiment of the present application;

[0035] Figure 3 is a schematic diagram of the parallel simulation parking space provided by the embodiment of the present application;

[0036] Figure 4 is a schematic diagram of the target simulation vehicle cutting out of the parallel simulation parking space provided by the embodiment of the present application;

[0037] Figure 5 is a schematic diagram of the sine curve provided by the embodiment of the present application;

[0038] Figure 6It is a schematic diagram of the change in the adjusted speed provided by the embodiment of the present application;

[0039] Figure 7 It is a schematic diagram of the change in the adjusted displacement provided by the embodiment of the present application;

[0040] Figure 8 It is the second flow schematic diagram of the vehicle simulation method provided by the embodiment of the present application;

[0041] Figure 9 It is a schematic structural diagram of the vehicle simulation device provided by the embodiment of the present application;

[0042] Figure 10 It is a schematic structural diagram of the electronic device provided by the embodiment of the present application. Detailed implementation manners

[0043] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0044] The embodiment of the present application provides a vehicle simulation method, device, electronic device and computer-readable storage medium. Among them, the vehicle simulation device can be integrated in the electronic device, and the electronic device can be a server or a terminal device, etc.

[0045] Among them, the server can be an independent physical server, a server cluster or a 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, network acceleration services (Content Delivery Network, CDN), and big data and artificial intelligence platforms. The terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, a vehicle-mounted terminal, etc., but is not limited thereto. The terminal and the server can be directly or indirectly connected through wired or wireless communication methods, and the present application does not limit this here.

[0046] For example, refer to Figure 1, taking the integration of the vehicle simulation device in an electronic device as an example, the electronic device can obtain vehicle information in a parallel simulation parking space. The vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, as well as the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle. Based on the vehicle position and the candidate vehicle positions, at least one-dimensional collision data between the target simulation vehicle and the adjacent vehicles is determined. According to the reference simulation data, motion simulation of the target simulation vehicle is performed to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension. Based on the collision data and the motion simulation data, safety verification of the target simulation vehicle under the reference simulation data is performed. When the verification passes, target motion simulation data is screened out from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space is generated.

[0047] Among them, the vehicle simulation method of the present application can simulate the driving trajectory of a vehicle cutting out of a parallel simulation parking space. Specifically, the present application can use the collision data between the target simulation vehicle and the adjacent vehicles and the motion simulation data of the target simulation vehicle to perform safety verification on the target simulation vehicle, so as to improve the accuracy of the reference simulation data. Thus, when the verification passes, based on the target motion simulation data screened out from the motion simulation data, a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space can be quickly generated, so as to improve the simulation efficiency and simulation accuracy of the vehicle driving trajectory.

[0048] Among them, the vehicle simulation method of the present application relates to an Intelligent Traffic System (ITS). The intelligent traffic system is also known as an Intelligent Transportation System. It effectively integrates advanced scientific and technological means (information technology, computer technology, data communication technology, sensor technology, electronic control technology, automatic control theory, operations research, artificial intelligence, etc.) into transportation, service control, and vehicle manufacturing, strengthening the connection between vehicles, roads, and users, thereby forming a comprehensive transportation system that ensures safety, improves efficiency, improves the environment, and saves energy.

[0049] The following will be described in detail respectively. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments.

[0050] This embodiment will be described from the perspective of the vehicle simulation device. The vehicle simulation device can be specifically integrated in an electronic device. The electronic device can be a server or a terminal device, etc. Among them, the terminal can include devices such as a tablet computer, a laptop computer, a personal computer (PC), a wearable device, a virtual reality device, or other intelligent devices that can obtain data.

[0051] This application provides a vehicle simulation method, including:

[0052] Obtain vehicle information in a parallel simulation parking space. The vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, as well as the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle. Based on the vehicle position and the candidate vehicle positions, determine the collision data in at least one dimension between the target simulation vehicle and the adjacent vehicles. According to the reference simulation data, perform motion simulation on the target simulation vehicle to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension. Based on the collision data and the motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data. When the verification passes, screen out the target motion simulation data from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, generate the driving trajectory for the target simulation vehicle to drive out of the parallel simulation parking space.

[0053] Specifically, as Figure 2 shown, the specific process of this vehicle simulation method is as follows in steps S201 to S205:

[0054] S201. Obtain vehicle information in a parallel simulation parking space.

[0055] Among them, the vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, as well as the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle.

[0056] The so-called vehicle position may refer to the position of the target simulation vehicle in the parallel simulation parking space. The so-called candidate vehicle position may refer to the position of the adjacent vehicle in the parallel simulation parking space.

[0057] When the parallel simulation parking space where the simulation vehicle is parked is adjacent to the parallel simulation parking space where the target simulation vehicle is parked, this simulation vehicle can be called an adjacent vehicle. For example, the adjacent vehicle is the simulation vehicle parked in the previous parallel simulation parking space of the parallel simulation parking space where the target simulation vehicle is located. Another example is that the adjacent vehicle is the simulation vehicle parked in the next parallel simulation parking space of the parallel simulation parking space where the target simulation vehicle is located.

[0058] The so-called reference simulation data may refer to the data used to perform motion simulation on the target simulation vehicle. For example, the reference simulation data may include reference simulation data in at least one dimension. The dimension may include a target dimension and a candidate dimension. For example, the target dimension may refer to the longitudinal dimension, and the candidate dimension may refer to the transverse dimension.

[0059] It can be understood here that when the target simulation vehicle cuts out from the parallel simulation vehicle, the target simulation vehicle will move both longitudinally and laterally. Based on this, the dimensions can be divided into a longitudinal dimension in the longitudinal direction and a lateral dimension in the lateral direction. Among them, the so-called longitudinal dimension can refer to the dimension parallel to the road; the so-called lateral dimension can refer to the dimension perpendicular to the road.

[0060] Among them, the parallel simulation parking space can refer to a simulated parking space that is parallel to the road and the vehicle needs to drive along the front-back direction of the parking space when entering and leaving. There can be multiple parallel simulation vehicles.

[0061] For step S201, the method of the step "obtain vehicle information in the parallel simulation parking space" can be: determine the target simulation vehicle and the adjacent vehicle of the target simulation vehicle among multiple simulation vehicles in the parallel simulation parking space; obtain the vehicle position and reference simulation data of the target simulation vehicle, and obtain the candidate vehicle positions of the adjacent vehicles; based on the vehicle position and reference simulation data of the target simulation vehicle, and the candidate vehicle positions of the adjacent vehicles, generate the vehicle information in the parallel simulation parking space.

[0062] Among them, the method of the step "determine the target simulation vehicle and the adjacent vehicle of the target simulation vehicle among multiple simulation vehicles in the parallel simulation parking space" can be: obtain the sorting serial number of each simulation vehicle in the parallel simulation parking space; based on the sorting serial number, screen out the target simulation vehicle and the adjacent vehicle of the target simulation vehicle among the simulation vehicles. Or, determine the current simulation vehicle among multiple simulation vehicles in the parallel simulation parking space; when there is a vehicle in front of the current simulation vehicle, use the current simulation vehicle as the target simulation vehicle and the vehicle in front of the current simulation vehicle as the adjacent vehicle.

[0063] Among them, the method of the step "obtain the vehicle position and reference simulation data of the target simulation vehicle" can be: obtain the right front corner coordinates of the target simulation vehicle, and based on the right front corner coordinates, generate the vehicle position of the target simulation vehicle; obtain the target simulation data of the target simulation vehicle in the target dimension and multiple candidate simulation data in the candidate dimension, and based on the target simulation data and the candidate simulation data, generate the reference simulation data of the target simulation vehicle. Among them, for the vehicle position of the target simulation vehicle, the vehicle position can also be a randomly generated position.

[0064] Among them, the method of the step "obtain the candidate vehicle positions of the adjacent vehicles" can be: obtain the left rear corner coordinates of the adjacent vehicle, and based on the left rear corner coordinates, generate the candidate vehicle positions of the adjacent vehicle. Or, the candidate vehicle position can also be a randomly generated position.

[0065] Regarding the vehicle information in the parallel simulation parking space, a specific example is described here. As Figure 3 shown, Figure 3There are multiple parallel parking spaces, and each parallel parking space has a simulated vehicle parked in it. In this application, the simulated vehicle can be a car, and the vehicle length of the car is L = 4.5 meters and the vehicle width is W = 1.8 meters.

[0066] As Figure 3 shown, in this application, the simulated lane containing parallel simulated parking spaces is further divided into two virtual lanes, separated by a virtual lane dividing line. Figure 3 It can include multiple parallel simulated parking spaces, such as 4. Each parallel simulated parking space has a simulated vehicle parked in it, such as simulated vehicle VT1, simulated vehicle VT2, simulated vehicle VT3, and simulated vehicle VT4.

[0067] The parking space length of each parallel simulated parking space is Lp = 6 meters and the width is Wp = 2.5 meters. The parallel simulated parking space is regarded as a lane with a width of 2.5 meters and named the parking space lane.

[0068] The remaining part of the simulated lane other than the parking space lane is also regarded as an independent lane with a width of Wr = 4 meters and named the remaining road surface lane.

[0069] Among them, when the simulated vehicle is parked in a parallel simulated vehicle and the position is offset relative to the center line of the parking space lane, this kind of offset is a lateral offset, denoted as Dyi; when the simulated vehicle is offset in the direction of the remaining road surface lane, the offset of the simulated vehicle is negative; when the simulated vehicle is offset in the opposite direction of the remaining road surface lane, the offset of the simulated vehicle is positive. The distance between every two adjacent simulated vehicles in the parallel simulated parking space is the longitudinal spacing, denoted as Dxi. As Figure 3 shown, the longitudinal spacing between simulated vehicle VT1 and simulated vehicle VT2 is Dx2, the longitudinal spacing between simulated vehicle VT2 and simulated vehicle VT3 is Dx3, and the longitudinal spacing between simulated vehicle VT3 and simulated vehicle VT4 is Dx4.

[0070] When the simulated vehicle is parked at the center position of the parallel simulated parking space and drives out to the remaining road surface lane, the lateral offset of the simulated vehicle is Dyi = 0, which is equivalent to the lane change process from the center line of the parking space lane to the center line of the remaining road surface lane. The width Wo laterally crossed by the simulated vehicle is Wo=(Wp + Wr) / 2 + Dyi=(4 + 2.5) / 2+0 = 3.25 meters.

[0071] As Figure 4As shown in the figure, the present application can determine a target simulation vehicle and an adjacent vehicle of the target simulation vehicle, such as the vehicle in front, among multiple simulation vehicles in a parallel simulation parking space. When the target simulation vehicle exits the parallel simulation parking space and there is another parked vehicle in front, the main consideration is the right front corner of the target simulation vehicle and the left rear corner of the vehicle in front. Since the vehicle is a rigid body, for the target simulation vehicle, the way the vehicle geometric center of the target simulation vehicle moves is the same as that of the right front corner.

[0072] Based on this, the present application can obtain the coordinates of the right front corner of the target simulation vehicle and use the coordinates of the right front corner as the vehicle position of the target simulation vehicle; obtain the coordinates of the left rear corner of the vehicle in front and use the coordinates of the left rear corner as the candidate vehicle position of the vehicle in front.

[0073] Regarding step S201, the method of the step "obtain vehicle information in the parallel simulation parking space" can also be: display a vehicle information input page, where the vehicle information input page includes information input controls; in response to an input operation on the information input controls, generate vehicle information. Alternatively, the vehicle information can be information initialized by the electronic device through the simulation application program corresponding to the target simulation vehicle.

[0074] S202. Based on the vehicle position and the candidate vehicle position, determine at least one-dimensional collision data between the target simulation vehicle and the adjacent vehicle.

[0075] Among them, the collision data can refer to the relevant data generated by the target simulation vehicle colliding with the adjacent vehicle during the process of exiting the parallel simulation parking space. For example, the collision data can include target collision data corresponding to the target dimension and candidate collision data corresponding to the candidate dimension; for example, the target collision data corresponding to the target dimension can include the longitudinal collision distance, and the candidate collision data corresponding to the candidate dimension can include the lateral collision distance.

[0076] Regarding step S202, there are multiple ways to perform the step "Based on the vehicle position and the candidate vehicle position, determine at least one-dimensional collision data between the target simulation vehicle and the adjacent vehicle": Way (1), the present application extracts the horizontal coordinate and the vertical coordinate from the vehicle position, and extracts the candidate horizontal coordinate and the candidate vertical coordinate from the candidate vehicle position; fuse the horizontal coordinate and the candidate horizontal coordinate to obtain the candidate collision data corresponding to the candidate dimension between the target simulation vehicle and the adjacent vehicle; fuse the vertical coordinate and the candidate vertical coordinate to obtain the target collision data corresponding to the target dimension between the target simulation vehicle and the adjacent vehicle.

[0077] For another example, in method (2), the method for the step of "determining at least one - dimensional collision data between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position" can be as follows: Obtain the standard parking position corresponding to the target simulation vehicle and the candidate standard parking position corresponding to the adjacent vehicle; when the vehicle position is the same as the standard vehicle and the candidate standard parking position is the same as the candidate vehicle position, based on the parking space data of the parallel simulation parking space and the vehicle data of the target simulation vehicle, determine at least one - dimensional collision data between the target simulation vehicle and the adjacent vehicle.

[0078] Among them, when the vehicle position is different from the standard vehicle, or the candidate standard parking position is different from the candidate vehicle position, it can be the same as method (1) above, which will not be elaborated here.

[0079] Among them, the method for the step of "determining at least one - dimensional collision data between the target simulation vehicle and the adjacent vehicle based on the parking space data of the parallel simulation parking space and the vehicle data of the target simulation vehicle" can be as follows: In this application, the parking space length can be extracted from the parking space data of the parallel simulation parking space, and the vehicle length and vehicle width of the target simulation vehicle can be extracted from the vehicle data; subtract the vehicle length from the parking space length to obtain the target collision data corresponding to the target dimension between the target simulation vehicle and the adjacent vehicle; use the vehicle width as the candidate collision data corresponding to the candidate dimension between the target simulation vehicle and the adjacent vehicle.

[0080] For example, for method (2), when the target dimension is the longitudinal dimension and the candidate dimension is the transverse dimension, as Figure 4 shown, since the speed of the target simulation vehicle in the transverse direction and the speed in the longitudinal direction are always greater than 0 during the cut - out process, the transverse displacement and longitudinal displacement of the target simulation vehicle are monotonically increasing functions, that is, they are always in the increasing process.

[0081] If the target collision data in the longitudinal dimension of the movement of the right front corner of the target simulation vehicle, that is, the longitudinal distance, is represented as Dsx, and the target collision data in the transverse dimension of the movement of the right front corner of the target simulation vehicle, that is, the transverse distance, is represented as Dsy, then, in the limit case of approaching a collision, the longitudinal displacements of the right front corner of the target simulation vehicle are respectively: Dsx = parking space length - vehicle length = Lp - L = 6 - 4.5 = 1.5 meters, Dsy = vehicle width = W = 1.8 meters.

[0082] It can be understood here that when the simulation vehicle is parked on the center line of the parking space lane and the size of each simulation vehicle is the same, it can be known that the transverse distance of the collision point between the target simulation vehicle and the adjacent vehicle is the vehicle body width, and the longitudinal distance of the collision point is the vehicle spacing.

[0083] For another example, in method (3), the method of "determining at least one - dimensional collision data between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position" can be as follows: Obtain the historical vehicle positions of the adjacent vehicle, and based on the historical vehicle positions and the candidate vehicle positions, determine the vehicle position state of the adjacent vehicle; when the vehicle position state indicates that the vehicle has moved, based on the vehicle position and the candidate vehicle position, determine at least one - dimensional collision data between the target simulation vehicle and the adjacent vehicle.

[0084] Among them, the historical vehicle position can refer to the parking position of the adjacent vehicle in the same parallel simulation parking space within a historical time.

[0085] Among them, the method of the step of "determining the vehicle position state of the adjacent vehicle based on the historical vehicle position and the candidate vehicle position" can be as follows: when the historical vehicle position is the same as the candidate vehicle position, determine that the vehicle position state of the adjacent vehicle is that the vehicle has not moved; when the historical vehicle position is different from the candidate vehicle position, determine that the vehicle position state of the adjacent vehicle is that the vehicle has moved.

[0086] Among them, when the vehicle position state indicates that the vehicle has moved, the method of "determining at least one - dimensional collision data between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position" can refer to the above formula (1) or formula (2), which will not be elaborated here.

[0087] It can be understood here that when the vehicle has moved, it indicates that the collision data between the target simulation vehicle and the adjacent vehicle has changed, so it is necessary to recalculate the collision data. When the vehicle has not moved, the historical collision data can be obtained, and the historical collision data can be used as the collision data, and step S203 is executed.

[0088] S203. According to the reference simulation data, perform a motion simulation on the target simulation vehicle to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension.

[0089] Among them, the motion simulation data can refer to the motion data obtained when simulating the process of cutting the target simulation vehicle out of the parallel simulation parking space.

[0090] The motion simulation data of the present application can include candidate motion simulation data corresponding to the candidate dimension and target motion simulation data corresponding to the target dimension. Specifically, for step S203, the method of the step of "performing a motion simulation on the target simulation vehicle according to the reference simulation data to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension" can be as shown in steps S2031 to S2034:

[0091] Regarding steps S2031 to S2034, it can be understood here that in this application, the movement of the target simulation vehicle in a candidate dimension such as the lateral dimension and the movement in a target dimension such as the longitudinal dimension can be considered separately. The initial speed of the target simulation vehicle in the lateral dimension and the initial speed in the longitudinal dimension are both 0. Assume that the car is parked in the center of the parking space, that is, the vehicle geometric center line of the target simulation vehicle coincides with the center line of the parking space lane, that is, the lateral offset Dyi = 0. At the same time, assume that the longitudinal distances Dxi between each vehicle are the same. Then, in the longitudinal dimension (the simulation lane parallel direction x), it is considered that the target simulation vehicle adopts a uniformly accelerated motion with an acceleration of ax, and in the lateral dimension (the simulation lane perpendicular direction y), it adopts an acceleration method of a sine curve, and the sine curve is as Figure 5 shown.

[0092] As Figure 5 shown, the sine curve is selected because it can reproduce the process in which the virtual speed in the lateral dimension of the target simulation vehicle first increases and then decreases when cutting out of the parallel simulation parking space; at the same time, it can be ensured that when the target simulation vehicle cuts out of the parallel simulation parking space, the virtual speed and virtual acceleration at the starting point in the lateral dimension, as well as the virtual speed and virtual acceleration at the end point (the center line of the target lane) in the lateral dimension are both 0, and the cutting-out trajectory is relatively smooth.

[0093] S2031. Identify the target simulation data corresponding to the target dimension and multiple candidate simulation data corresponding to the candidate dimension in the reference simulation data.

[0094] Among them, the target simulation data corresponding to the target dimension may include the target driving speed of the target simulation vehicle in the target dimension; the candidate simulation data corresponding to the candidate dimension may include the simulation duration and simulation step length of the target simulation vehicle cutting out of the parallel simulation parking space. Among them, the target driving speed may refer to the initial speed of the target simulation vehicle when it enters the remaining road surface lane after driving out of the parallel simulation.

[0095] Regarding step S2031, the method of "identifying the target simulation data corresponding to the target dimension and multiple candidate simulation data corresponding to the candidate dimension in the reference simulation data" may be: obtain the target identifier corresponding to the target dimension and the candidate identifier corresponding to the candidate dimension; based on the target identifier, extract the target simulation data corresponding to the target dimension from the reference simulation data; based on the candidate identifier, screen out multiple candidate simulation data corresponding to the candidate dimension from the reference simulation data.

[0096] S2032. Fuse the candidate simulation data to obtain candidate motion simulation data corresponding to the candidate dimension of the target simulation vehicle.

[0097] Regarding step S2032, the method of the step "fusing the candidate simulation data to obtain the candidate motion simulation data corresponding to the target simulation vehicle in the candidate dimension" can be: fusing the candidate simulation data to obtain the candidate motion virtual data corresponding to the target simulation vehicle in the candidate dimension; obtaining the motion adjustment data of the target simulation vehicle, and based on the motion adjustment data, adjusting the candidate motion virtual data to obtain the candidate motion simulation data corresponding to the target simulation vehicle in the candidate dimension.

[0098] Among them, the motion adjustment data can refer to the data used to adjust the candidate motion virtual data. It can be understood here that since there are deviations between the candidate motion virtual data and the data in the candidate dimension obtained during the actual motion of the vehicle, based on this, it is necessary to use the motion adjustment data to adjust the candidate motion virtual data so that the candidate motion simulation data corresponding to the target simulation vehicle in the candidate dimension is more in line with the actual situation, thereby improving the accuracy of the simulation.

[0099] Among them, the method of the step "fusing the candidate simulation data to obtain the candidate motion virtual data corresponding to the target simulation vehicle in the candidate dimension" can be: fusing the candidate simulation data to obtain the first candidate motion virtual data; mapping the first candidate motion virtual data to obtain the second candidate motion virtual data; screening out the to-be-processed simulation data from the candidate simulation data, and fusing the second candidate motion virtual data and the to-be-processed simulation data to obtain the third candidate motion virtual data; generating the candidate motion virtual data corresponding to the target simulation vehicle in the candidate dimension based on the first candidate motion virtual data, the second candidate motion virtual data, and the third candidate motion virtual data.

[0100] Here, a specific example is used for illustration. For example, when the acceleration in the lateral dimension (the vertical direction y of the simulation lane) adopts a sine curve, the virtual acceleration, virtual speed, and virtual displacement of the target simulation vehicle in the lateral dimension can be used as the candidate motion virtual data.

[0101] Among them, the candidate simulation data of the present application includes the simulation duration T and the simulation step size Δt. Based on the simulation duration T and the simulation step size Δ, the simulation process of the target simulation vehicle can be divided into i simulation time steps. The present application takes the start time cut out by the target simulation vehicle as the zero point of the simulation time step.

[0102] As Figure 5 shown, the virtual acceleration ayi' conforms to the value range [-1, 1] of the sine curve on the vertical axis, and on the horizontal axis is the simulation duration T of cutting out the parallel simulation parking space, that is, starting from the time when the target simulation vehicle starts to move laterally in the lateral dimension until the centroid of the target simulation vehicle changes to the center line of the remaining road lane and the virtual speed and virtual acceleration of the target simulation vehicle in the lateral dimension are both 0.

[0103] Specifically, the present application adopts a first fusion function to fuse the simulation duration T and the simulation step size Δt included in the candidate simulation data to obtain a virtual acceleration, and uses the virtual acceleration as the first candidate motion virtual data, where the first fusion function is as shown in formula (1):

[0104] ayi’ = sin(i·Δt·2π / T) Formula (1)

[0105] Wherein, i may refer to the i-th simulation time step, where i = 1, 2, 3... N, where N = T / Δt; ayi’ may refer to the virtual acceleration of the i-th simulation time step, that is, the first candidate motion virtual data; T may refer to the simulation duration; Δt may refer to the simulation step size.

[0106] After obtaining the first candidate motion virtual data, a first mapping function can be used to map the first candidate motion virtual data to obtain a virtual velocity, and the virtual velocity is used as the second candidate motion virtual data, where the first mapping function can be as shown in formula (2):

[0107] Vyi’ = Vy(i - 1)’ + Δt·ayi’ Formula (2)

[0108] Wherein, Vyi’ may refer to the virtual velocity corresponding to the i-th simulation time step, that is, the second candidate motion virtual data; Vy(i - 1)’ may refer to the second candidate motion virtual data corresponding to the (i - 1)-th simulation time step; ayi’ may refer to the first candidate motion virtual data of the i-th simulation time step.

[0109] After obtaining the second candidate motion virtual data, the simulation step size Δt included in the candidate simulation data can be used as the to-be-processed simulation data, and then a second fusion function is adopted to fuse the second candidate motion virtual data and the to-be-processed simulation data to obtain a virtual displacement, and the virtual displacement is used as the third candidate motion virtual data. The second fusion function is as shown in formula (3):

[0110] Syi’ = Sy(i - 1)’ + Δt·Vyi’ Formula (3)

[0111] Wherein, Syi’ may refer to the virtual displacement corresponding to the i-th simulation time step, that is, the third candidate motion virtual data.

[0112] It can be understood here that the present application can set the virtual displacement Sy0’ = 0 corresponding to the 0-th simulation time step, the virtual velocity Vy0’ = 0 corresponding to the 0-th simulation time step, and the present application can also set the initial position of the target simulation vehicle on the center line of the parking lane.

[0113] After obtaining the candidate motion virtual data in this application, the motion adjustment data for adjusting the candidate motion virtual data can be obtained. In this application, the candidate motion virtual data can include multiple sub-motion virtual data. Based on this, the method for the step of "obtaining the motion adjustment data of the target simulation vehicle" can be: screening out the target sub-motion virtual data from the sub-motion virtual data, and obtaining the preset movement data corresponding to the candidate dimension of the target simulation vehicle; fusing the target sub-motion virtual data and the preset movement data to obtain the motion adjustment data of the target simulation vehicle.

[0114] Among them, the preset motion data can refer to the relevant data that is preset and the target simulation vehicle cuts out from the parallel simulation parking space and moves to the preset position. The so-called preset position can refer to the position on the remaining road surface lane, such as the center line position of the remaining road surface lane.

[0115] For example, this application can use the third candidate motion virtual data, i.e., the virtual displacement, as the target sub-motion virtual data. Based on the above formulas (1), (2), and (3), the virtual displacement SyT' at the end of the simulation duration T, that is, when the simulation time step is the last simulation time step, can be gradually deduced as the target sub-motion virtual data.

[0116] For the preset motion data, this application can use the previously mentioned width Wo of the lateral crossing of the simulation vehicle as the preset motion data.

[0117] Then, this application can use the third fusion function to fuse the target sub-motion virtual data and the preset movement data to obtain the motion adjustment data of the target simulation vehicle. The third fusion function is shown in formula (4):

[0118] α = Wo / SyT' Formula (4)

[0119] Among them, α can refer to the motion adjustment data; Wo refers to the preset motion data; SyT' can refer to the target sub-motion virtual data.

[0120] After obtaining the motion adjustment data in this application, the candidate motion virtual data can be adjusted. Specifically, the method for the step of "adjusting the candidate motion virtual data based on the motion adjustment data to obtain the candidate motion simulation data corresponding to the candidate dimension of the target simulation vehicle" can be: fusing the motion adjustment data and each sub-motion virtual data included in the candidate motion virtual data to obtain the sub-adjusted motion data corresponding to each sub-motion virtual data; generating the candidate motion simulation data corresponding to the candidate dimension of the target simulation vehicle based on the sub-adjusted motion data.

[0121] For example, when the sub-motion virtual data is virtual acceleration, multiply the virtual acceleration by the motion adjustment data to obtain the adjusted acceleration corresponding to the virtual acceleration, and use the adjusted acceleration as the sub-adjusted motion data corresponding to the virtual acceleration, that is, the adjusted acceleration ayi = virtual acceleration ayi' · motion adjustment data α.

[0122] Similarly, when the sub-motion virtual data is virtual velocity, multiply the virtual velocity by the motion adjustment data to obtain the adjusted velocity corresponding to the virtual velocity, and use the adjusted velocity as the sub-adjusted motion data corresponding to the virtual velocity, that is, the adjusted velocity Vyi = virtual velocity Vyi' · motion adjustment data α. Among them, the change in the adjusted velocity can be as Figure 6 shown.

[0123] Similarly, when the sub-motion virtual data is virtual displacement, multiply the virtual displacement by the motion adjustment data to obtain the adjusted displacement corresponding to the virtual displacement, and use the adjusted displacement as the sub-adjusted motion data corresponding to the virtual displacement, that is, the adjusted displacement Syi = virtual displacement Syi' · motion adjustment data α. Among them, the change in the adjusted displacement can be as Figure 7 shown.

[0124] The virtual acceleration, virtual velocity, virtual displacement, adjusted acceleration, adjusted velocity, and adjusted displacement obtained in step S2032 are shown in Table 1 as follows:

[0125]

[0126]

[0127] Table 1

[0128] S2033. Based on the target simulation data and the candidate simulation data, determine the target motion simulation data corresponding to the target simulation vehicle in the target dimension.

[0129] For step S2033, the method of the step "Based on the target simulation data and the candidate simulation data, determine the target motion simulation data corresponding to the target simulation vehicle in the target dimension" can be: Based on the target simulation data and the candidate simulation data, calculate the alternative motion data of the target simulation vehicle in the target dimension, and obtain the preset motion limit data corresponding to the target simulation vehicle in the target dimension; screen out the initial simulation data of the target simulation vehicle from the alternative motion data and the preset motion limit data; based on the initial simulation data, perform a simulation on the target simulation vehicle in the target dimension to obtain the target motion simulation data corresponding to the target simulation vehicle in the target dimension.

[0130] Among them, the alternative motion data can refer to the alternative data used to simulate the target simulation vehicle.

[0131] Among them, the preset motion limit data can be data that is preset and used to constrain the motion of the target simulation vehicle.

[0132] Among them, the method of the step "calculating the alternative motion data of the target simulation vehicle in the target dimension based on the target simulation data and the candidate simulation data" can be: screening out the simulation duration in the candidate simulation data and using the simulation duration as the simulation data to be calculated; fusing the simulation data to be calculated and the target simulation data to obtain the uniform acceleration corresponding to the target simulation vehicle in the target dimension, and using the uniform acceleration as the alternative motion data.

[0133] Here, it can be understood that in the embodiment of the present application, assuming that the target simulation vehicle adopts uniform acceleration motion in the target dimension, that is, the longitudinal dimension, then when the target simulation vehicle cuts out of the parallel simulation parking space, that is, when the centroid of the target simulation vehicle changes to the center line of the remaining road lane, and the virtual speed and virtual acceleration of the target simulation vehicle in the lateral dimension are both 0, that is, when the timing of the simulation duration T ends, the target driving speed of the target simulation vehicle in the longitudinal dimension is defined as VT, and the target driving speed is used as the target simulation data.

[0134] Among them, the target driving speed can be set as a relevant parameter of the parallel simulation parking space before the simulation. When the target simulation vehicle stops, the target driving speed is 0; when the target simulation vehicle cuts out of the parallel simulation parking space, the target driving speed is not 0, and the simulation time passed by the target simulation vehicle is T. On this basis, the fourth fusion function can be used to fuse the simulation data to be calculated and the target simulation data to obtain the uniform acceleration corresponding to the target simulation vehicle in the target dimension, and the uniform acceleration is used as the alternative motion data. Among them, the fourth fusion function can be as shown in formula (5):

[0135] ax = VT / T Formula (5)

[0136] Among them, ax can refer to the uniform acceleration, that is, the alternative motion data; T can refer to the simulation time; VT can refer to the target driving speed.

[0137] Among them, the method of the step "screening out the initial simulation data of the target simulation vehicle from the alternative motion data and the preset motion limit data" can be: when the alternative motion data is greater than the preset motion limit data, using the preset motion limit data as the initial simulation data of the target simulation vehicle; when the alternative motion data is less than or equal to the preset motion limit data, using the alternative motion data as the initial simulation data of the target simulation vehicle.

[0138] It can be understood here that the present application can introduce the maximum acceleration axmax in the target dimension as preset motion limit data to limit the motion of the target simulation vehicle. The maximum acceleration axmax is the maximum acceleration that the target simulation vehicle can adopt in the longitudinal dimension, and its calculation is not limited here.

[0139] In the present application, the vehicle performance of the target simulation vehicle, the aggressiveness of the driver, and the maximum acceleration axmax are correlated. The more aggressive the driver is, the better the vehicle performance is, and the larger the value of the maximum acceleration axmax is.

[0140] If the solved alternative motion data ax > the maximum acceleration axmax, it proves that the target simulation vehicle cannot reach this maximum acceleration. Then, the maximum acceleration axmax is used as the initial simulation data. At this time, when the simulation duration T ends, the candidate driving speed VT' that the target simulation vehicle can reach is smaller than the initially set target driving speed VT.

[0141] At the same time, the present application can introduce the minimum speed Vmin in the longitudinal dimension. The minimum speed Vmin is the minimum speed that the target simulation vehicle can accept in the longitudinal dimension when the simulation duration T ends, and its calculation is not limited here. The vehicle performance of the target simulation vehicle, the aggressiveness of the driver, and the minimum speed in the present application are also correlated. The more aggressive the driver is, the larger the value of the minimum speed Vmin is.

[0142] Among them, the method of the step "simulating the target simulation vehicle in the target dimension based on the initial simulation data to obtain the target motion simulation data corresponding to the target simulation vehicle in the target dimension" can be: mapping the initial simulation data to obtain the first target motion simulation data; fusing the first target motion simulation data and the initial simulation data to obtain the second target motion simulation data; using the first target motion simulation data and the second target motion simulation data as the target motion simulation data corresponding to the target simulation vehicle in the target dimension.

[0143] For example, the present application can use the second mapping function to map the initial simulation data to obtain the target motion speed of the target simulation vehicle in the target dimension, and use the target motion speed as the first target motion simulation data. Among them, the second mapping function can be as shown in formula (6):

[0144] Vxi = V0 + aΔt·i Formula (6)

[0145] Among them, Vxi can refer to the target motion speed of the target simulation vehicle at the i-th simulation time step; a can refer to the initial simulation data; V0 can refer to the speed of the target simulation vehicle at the 0-th simulation time step, and V0 can be set to 0.

[0146] For example, the present application may adopt a fifth fusion function to fuse the first target motion simulation data and the initial simulation data to obtain the target displacement of the target simulation vehicle in the target dimension, and use the target displacement as the second target motion simulation data, where the fifth fusion function may be as shown in formula (7):

[0147] ΔSxi = V0·(Δt·i)+ (1 / 2)a(Δt·i)^2 Formula (7)

[0148] Wherein, ΔSxi may refer to the target displacement of the target simulation vehicle at the i-th simulation time step.

[0149] Regarding step S2023, the target motion speed and target displacement of the target simulation vehicle can be referred to as shown in Table 1 above.

[0150] S2034. Generate motion simulation data corresponding to each dimension of the target simulation vehicle according to the candidate motion simulation data and the target motion simulation data.

[0151] Regarding step S2034, the candidate motion simulation data and the target motion simulation data can be used as the motion simulation data.

[0152] Regarding the motion simulation data of the present application such as the target motion speed and target displacement, the present application can also directly adopt the method of integrating trigonometric functions. The formulas (1) to (7) adopted by the present application are equivalent to taking values at discrete points, and the results obtained by this method are not much different from those obtained by integrating trigonometric functions and then taking values.

[0153] S204. Based on the collision data and the motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data.

[0154] Regarding step S204, after the present application obtains the collision data and the motion simulation data, in order to prevent collisions between the target simulation vehicle and adjacent vehicles, based on this, the present application will perform safety verification on the target simulation vehicle under the reference simulation data to improve the accuracy of the simulation.

[0155] Regarding step S204, the method of the step "Based on the collision data and the motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data" can be as shown in steps S2041 to S2043:

[0156] S2041. Determine the target dimension in the dimension and extract the target collision data corresponding to the target dimension from the collision data.

[0157] Regarding step S2041, the present application can use the longitudinal dimension as the target dimension.

[0158] Regarding step S2041, the method of the step "extracting the target collision data corresponding to the target dimension from the collision data" can be: obtaining the target identifier corresponding to the target dimension; based on the target identifier, extracting the target collision data corresponding to the target dimension from the collision data.

[0159] S2042. Query the safety motion simulation data corresponding to the target dimension in the motion simulation data based on the target collision data to obtain a query result.

[0160] Among them, the safety motion simulation data can be the relevant data that enables the target simulation vehicle to safely cut out of the parallel simulation parking space. It can be understood here that when the target simulation vehicle cuts out of the parallel simulation parking space and the target simulation vehicle does not collide with adjacent vehicles, this situation can be called that the target simulation safely cuts out of the parallel simulation parking space.

[0161] Regarding step S2042, the method of the step "querying the safety motion simulation data corresponding to the target dimension in the motion simulation data based on the target collision data to obtain a query result" can be: determining multiple basic motion simulation data corresponding to the target dimension in the motion simulation data, and determining adjacent reference motion simulation data in the basic motion simulation data; comparing the target collision data with the reference motion simulation data to obtain a comparison result; when the comparison result is that the target collision data is between adjacent reference motion simulation data, determining that there is safety motion simulation data in the query result; when the comparison result is that the target collision data is not between adjacent reference motion simulation data, determining that there is no safety motion simulation data in the query result.

[0162] Among them, the present application can extract multiple basic motion simulation data corresponding to the target dimension from the motion simulation data according to the target identifier corresponding to the target dimension. Among them, the basic motion simulation data can belong to the target motion simulation data corresponding to the target dimension.

[0163] Among them, the method of the step "determining adjacent reference motion simulation data in the basic motion simulation data" can be: obtaining the simulation time step corresponding to each basic motion simulation data; determining the candidate sorting serial number corresponding to each basic motion simulation data based on the simulation time step; based on the candidate sorting serial number, screening out adjacent reference motion simulation data.

[0164] Among them, when the comparison result is that the target collision data is between adjacent reference motion simulation data, it is determined that there is safety motion simulation data in the query result, and the reference motion simulation data can be used as the safety motion simulation data.

[0165] S2043. When there is safety motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data according to the safety motion simulation data to obtain a verification result.

[0166] Regarding step S2043, the method of the step "performing safety verification on the target simulation vehicle under the reference simulation data according to the safety motion simulation data to obtain a verification result" can be as follows: screening out candidate dimensions in the dimensions, and determining candidate collision data corresponding to the candidate dimensions in the collision data; extracting candidate motion simulation data corresponding to the candidate dimensions in the motion simulation data according to the safety motion simulation data; and verifying the candidate motion simulation data based on the candidate collision data to obtain a verification result.

[0167] Among them, the lateral dimension can be used as the candidate dimension.

[0168] Among them, the method of the step "determining candidate collision data corresponding to the candidate dimensions in the collision data" can be as follows: obtaining candidate identifiers corresponding to the candidate dimensions; and extracting candidate collision data corresponding to the candidate dimensions in the collision data based on the candidate identifiers.

[0169] Among them, the method of the step "extracting candidate motion simulation data corresponding to the candidate dimensions in the motion simulation data according to the safety motion simulation data" can be as follows: obtaining the target simulation time step of the safety motion simulation data; extracting candidate motion simulation data corresponding to the target simulation time step in the motion simulation data, and using the candidate motion simulation data corresponding to the target simulation time step as the candidate motion simulation data corresponding to the candidate dimensions. Among them, the candidate motion simulation data can belong to the candidate motion simulation data corresponding to the candidate dimensions.

[0170] Among them, the method of the step "verifying the candidate motion simulation data based on the candidate collision data to obtain a verification result" can be as follows: comparing the candidate collision data with the candidate motion simulation data to obtain a target comparison result; when the target comparison result is that the candidate motion simulation data is greater than the candidate collision data, determining that the verification result is that the safety verification of the target simulation vehicle passes; when the target comparison result is that the candidate motion simulation data is less than or equal to the candidate collision data, determining that the verification result is that the safety verification of the target simulation vehicle fails.

[0171] Regarding steps S2041 to S2043, a specific example is further elaborated here. For example, the present application can use the longitudinal dimension as the target dimension and the lateral dimension as the candidate dimension. Then, the target collision data corresponding to the longitudinal dimension and the candidate collision data corresponding to the lateral dimension can be extracted from the collision data.

[0172] Then, multiple basic motion simulation data corresponding to the target dimension can be determined from the motion simulation data, and based on the simulation time step corresponding to each basic motion simulation data, reference motion simulation data with adjacent sorting can be determined from the basic motion simulation data. Next, the target collision data Dsx corresponding to the longitudinal dimension can be compared with the reference motion simulation data to obtain a comparison result. For example, the adjacent reference motion simulation data includes the first reference motion simulation data and the second reference motion simulation data sorted in sequence, where the simulation time step of the first reference motion simulation data is i, and the simulation time step of the second reference motion simulation data is i + 1.

[0173] When the first reference motion simulation data ≤ the target collision data Dsx ≤ the second reference motion simulation data, it is determined that there is safe motion simulation data, and the first reference motion simulation data and the second reference motion simulation data are used as the safe motion simulation data.

[0174] Since the target simulation vehicle can be in a stationary state when the simulation time step is 0, based on this, the basic motion simulation data when the simulation time step is 0 can be 0.

[0175] Then, when there is safe motion simulation data, the target simulation time step corresponding to the first reference motion simulation data can be obtained; the candidate motion simulation data corresponding to the target simulation time step is extracted from the motion simulation data, and the candidate motion simulation data corresponding to the target simulation time step is used as the candidate motion simulation data corresponding to the lateral dimension.

[0176] Next, the candidate motion simulation data corresponding to the lateral dimension can be compared with the candidate collision data Dsy. When the candidate motion simulation data is greater than the candidate collision data Dsy, it proves that the moving distance of the target simulation vehicle in the lateral dimension at this moment has exceeded the lateral distance of the collision point and it can safely switch out. Then, it can be determined that the verification result is that the safety verification of the target simulation vehicle passes.

[0177] On the contrary, when the candidate motion simulation data is less than or equal to the candidate collision data Dsy, it proves that the moving distance of the target simulation vehicle in the lateral dimension at this moment has not exceeded the lateral distance of the collision point. If time continues to advance, the target simulation vehicle may collide in the lateral or longitudinal direction. Then, it can be determined that the verification result is that the safety verification of the target simulation vehicle fails.

[0178] S205. When the verification passes, the target motion simulation data is screened out from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space is generated.

[0179] For step S205, the method of the step "filter out the target motion simulation data from the motion simulation data according to the reference simulation data" can be: determine the initial motion simulation data corresponding to the reference simulation data in each dimension in the motion simulation data; extract the displacement data corresponding to each dimension from the initial motion simulation data, where the displacement data includes the adjusted displacement corresponding to each simulation time step in the candidate dimension and the target displacement corresponding to each simulation time step in the target dimension, or the displacement data includes the adjusted displacement corresponding to each simulation time step in the candidate dimension and the candidate displacement corresponding to each simulation time step in the target dimension; generate the target motion simulation data based on the displacement data.

[0180] Among them, the initial motion simulation data may include the adjusted acceleration, adjusted velocity, and adjusted displacement corresponding to each simulation time step in the candidate dimension, and the target motion velocity and target displacement corresponding to each simulation time step in the target dimension.

[0181] Alternatively, the initial motion simulation data may include the adjusted acceleration, adjusted velocity, and adjusted displacement corresponding to each simulation time step in the candidate dimension, and the candidate motion velocity and candidate displacement corresponding to each simulation time step in the target dimension. Among them, for the candidate motion velocity and candidate displacement, refer to the processing process of the target simulation vehicle in the following "when the verification fails", which will not be elaborated here.

[0182] After the target motion simulation data is filtered out in this application, the driving trajectory of the target simulation vehicle cutting out of the parallel simulation parking space can be generated. Specifically, this application can obtain the lane information of the remaining road surface lanes corresponding to the parallel simulation parking space; based on the lane information, determine the lane safety state of the remaining road surface lanes; when the lane safety state is lane safety, generate the driving trajectory of the target simulation vehicle cutting out of the parallel simulation parking space based on the target motion simulation data.

[0183] Among them, the driving trajectory of the target simulation vehicle cutting out of the parallel simulation parking space can be generated based on the target motion simulation data through a simulation application program.

[0184] Among them, the method of the step "based on the lane information, determine the lane safety state of the remaining road surface lanes" can be: determine the preset cut-out area of the target simulation vehicle in the remaining road surface lanes; perform obstacle detection on the preset cut-out area based on the lane information; when there are obstacles in the preset cut-out area, determine that the lane safety state of the remaining road surface lanes is lane unsafe; when there are no obstacles in the preset cut-out area, determine that the lane safety state of the remaining road surface lanes is lane safe.

[0185] Among them, the preset cut-out area may refer to the relevant area when the target simulation vehicle cuts out from the parallel simulation lane to the remaining road surface lanes.

[0186] After step S204, it is possible that the vehicle verification fails. In the case where the vehicle verification fails, the reference simulation data can be corrected to improve the accuracy of the simulation.

[0187] For example, when the verification fails, the present application can obtain the simulation correction data of the target simulation vehicle, and based on the simulation correction data, correct the reference simulation data to obtain the corrected simulation data; based on the corrected simulation data, simulate the target simulation vehicle to obtain the dimension motion simulation data corresponding to the target simulation vehicle in at least one dimension, and generate the backup motion simulation data according to the dimension motion simulation data; use the backup motion simulation data as the motion simulation data, and return to execute the step of performing safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data until the safety verification of the target simulation vehicle passes, so as to obtain the driving trajectory of the target simulation vehicle when cutting out the parallel simulation parking space.

[0188] Among them, the step of "using the backup motion simulation data as the motion simulation data" can be: updating the reference simulation data with the corrected simulation data to obtain the updated reference simulation data; using the updated reference simulation data as the reference simulation data, and using the backup motion simulation data as the motion simulation data.

[0189] For example, when the corrected simulation data is the corrected simulation data of the target dimension, the corrected simulation data can be used to replace the target simulation data of the target dimension included in the reference simulation data to obtain the updated reference simulation data.

[0190] Among them, the simulation correction data can be the data used to correct the reference simulation data; the simulation correction data can be pre-set data, which can be a fixed value or a dynamic value, and can be specifically set according to requirements.

[0191] Among them, the method of the step of "correcting the reference simulation data based on the simulation correction data to obtain the corrected simulation data" can be: subtracting the simulation correction data from the reference simulation data to obtain the candidate correction data; when the candidate correction data is greater than the preset threshold, using the candidate correction data as the corrected simulation data.

[0192] Among them, the method of the step of "simulating the target simulation vehicle based on the corrected simulation data to obtain the dimension motion simulation data corresponding to the target simulation vehicle in at least one dimension" can refer to the aforementioned step of "performing motion simulation on the target simulation vehicle according to the reference simulation data to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension", which will not be elaborated here.

[0193] Alternatively, the method of the step "simulate the target simulation vehicle based on the corrected simulation data to obtain the dimension motion simulation data corresponding to the target simulation vehicle in at least one dimension" can be: simulate the target simulation vehicle in the target dimension based on the corrected simulation data and the candidate simulation data to obtain the dimension motion simulation data corresponding to the target simulation vehicle in the target dimension.

[0194] Among them, the method of the step "simulate the target simulation vehicle in the target dimension based on the corrected simulation data and the candidate simulation data to obtain the dimension motion simulation data corresponding to the target simulation vehicle in the target dimension" can refer to the aforementioned step "determine the target motion simulation data corresponding to the target simulation vehicle in the target dimension based on the target simulation data and the candidate simulation data", which will not be elaborated here.

[0195] The method of the step "generate backup motion simulation data according to the dimension motion simulation data" can be: when the dimensions of the dimension motion simulation data include the target dimension and the candidate dimension, use the dimension motion simulation data as the backup motion simulation data. When the dimensions of the dimension motion simulation data include the target dimension, extract the candidate motion simulation data corresponding to the candidate dimension from the motion simulation data, and generate backup motion simulation data based on the candidate motion simulation data and the dimension motion simulation data corresponding to the target dimension.

[0196] Among them, as shown in Table 1, the dimension motion simulation data corresponding to the target dimension may include the candidate motion speed of the target dimension and the candidate displacement of the target dimension.

[0197] Here, it is described by taking the dimensions of the dimension motion simulation data including the target dimension and the reference simulation data being the target driving speed as an example. When the verification fails, obtain the simulation correction data Δv of the target simulation vehicle. Then, the candidate correction speed can be obtained by subtracting the simulation correction data Δv from the target driving speed, and the candidate correction speed can be used as the candidate correction data. When the candidate correction data is greater than the preset threshold Vmin, the candidate correction data is used as the corrected simulation data. Among them, the simulation correction data Δv can be set to 1 m / s or 2 m / s. The simulation correction data Δv can also be related to the aggressiveness of the vehicle. The more aggressive the vehicle is, the smaller its simulation correction data Δv.

[0198] Then, extract the candidate motion simulation data corresponding to the candidate dimension from the motion simulation data, and generate backup motion simulation data based on the candidate motion simulation data and the dimension motion simulation data corresponding to the target dimension. Next, use the alternative motion data as the motion simulation data, and return to execute the step of performing safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data until the safety verification of the target simulation vehicle passes, and obtain the driving trajectory of the target simulation vehicle when cutting out the parallel simulation parking space.

[0199] It can be understood here that when it is tried that the candidate correction data is less than or equal to the preset threshold Vmin and the safety verification of the target simulation vehicle has not passed, then the target simulation vehicle continues to wait in the parallel simulation parking space until the vehicle spacing of the target simulation vehicle becomes larger after the adjacent vehicle of the target simulation vehicle, such as the vehicle in front, drives out of the parallel simulation parking space. At this time, the steps of "obtaining the simulation correction data of the target simulation vehicle and correcting the reference simulation data based on the simulation correction data to obtain the corrected simulation data" can be re-executed until the safety verification of the target simulation vehicle passes, and the driving trajectory of the target simulation vehicle cutting out of the parallel simulation parking space is obtained.

[0200] Among them, when the adjacent vehicle is parked in front of the target simulation vehicle, after the adjacent vehicle drives out, the vehicle spacing in front of the target simulation vehicle becomes relatively large. Then, the target simulation vehicle has enough space to drive out.

[0201] For steps S201 to S205, a specific example is described here. For example, the reference simulation data may include the target simulation data in the longitudinal dimension and the candidate simulation data in the transverse dimension. Among them, the target simulation data may include the target driving speed; the candidate simulation data may include the simulation duration and the simulation step size.

[0202] Among them, the target driving speed VT = 20 km / h, the simulation duration T = 4 s, the simulation step size Δt = 0.1 s, the maximum acceleration axmax = 1.2 m / s 2 , the width Wo = 3.25 m that the target simulation vehicle crosses horizontally, and the calculated target collision data Dsx = 1.5 m in the longitudinal dimension and the candidate collision data Dsy = 1.8 m in the transverse dimension.

[0203] For the longitudinal dimension, since the target driving speed VT = 20 km / h and the simulation duration T = 4 s, the corresponding alternative motion data, that is, the uniform acceleration ax = 1.39 m / s, can be calculated 2 > axmax = 1.2 m / s 2 , so the initial simulation data is taken as 1.2 m / s 2 . Then, based on the initial simulation data, the target simulation vehicle is simulated in the longitudinal dimension to obtain the target motion simulation data corresponding to the target simulation vehicle in the longitudinal dimension. Among them, the target motion simulation data may be the target motion speed and the target displacement in Table 1.

[0204] For the transverse dimension, based on the simulation duration T = 4 s and the simulation step size Δt = 0.1 s, the present application can process and obtain the candidate motion simulation data corresponding to the target simulation vehicle in the transverse dimension. The candidate motion simulation data may be the adjusted acceleration, the adjusted speed, and the adjusted displacement in Table 1.

[0205] This application can determine multiple basic motion simulation data corresponding to the longitudinal dimension in the motion simulation data. The basic motion simulation data can be the target motion speed and target displacement in Table 1. Then, this application can determine adjacent reference motion simulation data in the basic motion simulation data and compare the target collision data with the reference motion simulation data. As shown in Table 1, in the longitudinal dimension, it can be determined that 1.4m ≤ 1.5m ≤ 1.6m, that is, the target collision data Dsx is between the two adjacent reference motion simulation data of 1.4m and 1.6m. Then, it is determined that there is safe motion simulation data, and the two adjacent reference motion simulation data of 1.4m and 1.6m are used as the safe motion simulation data.

[0206] Since the simulation time step corresponding to 1.4m is i = 15, then, correspondingly, in the transverse dimension, the obtained candidate motion simulation data, that is, the adjusted displacement = 0.99m.

[0207] Since the adjusted displacement = 0.99m is less than the candidate collision data Dsy = 1.8m, it indicates that the target simulation vehicle will collide with the adjacent vehicle, indicating that the safety verification of the target simulation vehicle fails. Then, this application needs to reduce the target driving speed.

[0208] Therefore, when the verification fails, the simulation correction data of the target simulation vehicle is obtained, and based on the simulation correction data, the target driving speed is corrected. The specific correction process is omitted here. When the target driving speed is reduced to 9 km / h, in the longitudinal dimension, the dimensional motion simulation data can be obtained. The dimensional motion simulation data can include the candidate motion speed and candidate displacement.

[0209] Among them, as shown in Table 1, it can be determined that 1.4m ≤ 1.5m ≤ 1.6m, that is, the target collision data Dsx is between the two adjacent reference motion simulation data of 1.4m and 1.6m. Then, it is determined that there is safe motion simulation data, and the two adjacent reference motion simulation data of 1.4m and 1.6m are used as the safe motion simulation data.

[0210] Since the simulation time step corresponding to 1.4m is i = 21, then, correspondingly, in the transverse dimension, the obtained candidate motion simulation data, that is, the adjusted displacement = 1.95m.

[0211] Since the adjusted displacement = 1.95m is greater than the candidate collision data Dsy = 1.8m, it indicates that the target simulation vehicle will not collide with the adjacent vehicle, indicating that the safety verification of the target simulation vehicle passes, and the target simulation vehicle can safely cut out from the parallel simulation parking space.

[0212] Based on this, the dimensional motion simulation data in the longitudinal dimension and the candidate motion simulation data in the lateral dimension can be extracted as the target motion simulation data, and based on the target motion simulation data, the driving trajectory of the target simulation vehicle cutting out of the parallel simulation parking space can be generated.

[0213] In summary, in this application, the parallel simulation parking space and the remaining part of the road surface on the side are respectively defined as two virtual lanes, and then the lateral and longitudinal movement processes of the vehicle cutting out of the parking space are respectively defined by a sine curve and a uniform acceleration. The feasibility of the longitudinal and lateral boundary conditions, that is, the collision data, is judged by means of deduction operation, so that the process and trajectory of the vehicle cutting out of the parallel parking space are closer to reality, thus making the simulation result more realistic.

[0214] This application can obtain the vehicle information in the parallel simulation parking space. The vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, and the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle. Based on the vehicle position and the candidate vehicle positions, the collision data in at least one dimension between the target simulation vehicle and the adjacent vehicles is determined. According to the reference simulation data, the motion simulation of the target simulation vehicle is carried out to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension. Based on the collision data and the motion simulation data, the safety verification of the target simulation vehicle under the reference simulation data is carried out. When the verification is passed, the target motion simulation data is screened out from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, the driving trajectory of the target simulation vehicle cutting out of the parallel simulation parking space is generated. Since this application can use the vehicle position and the candidate vehicle positions to determine the collision data between the target simulation vehicle and the adjacent vehicles in the parallel simulation parking space, and based on the reference simulation data of the target simulation vehicle, carry out the motion simulation of the target simulation vehicle to obtain the motion simulation data of the target simulation vehicle. In this way, the collision data and the motion simulation data can be used to carry out the safety verification of the target simulation vehicle to improve the accuracy of the reference simulation data. Thus, when the verification is passed, based on the target motion simulation data screened out from the motion simulation data, the driving trajectory of the target simulation vehicle cutting out of the parallel simulation parking space can be quickly generated to improve the simulation efficiency and simulation accuracy of the vehicle driving trajectory.

[0215] According to the method described in the above embodiments, the following will give further detailed examples.

[0216] In this embodiment, it is assumed that the vehicle simulation device is specifically integrated in an electronic device, and the electronic device can be a terminal.

[0217] As Figure 8 shown, a vehicle simulation method, the specific process is as shown in steps S501 to S519:

[0218] S501. The electronic device obtains the current vehicle state of the target simulation vehicle in the parallel simulation vehicle position.

[0219] For step S501, the current vehicle state of the target simulation vehicle can be obtained through a simulation application program. The so-called current vehicle state can refer to the state that the target simulation vehicle is currently about to execute.

[0220] Among them, before step S501, the electronic device can obtain the vehicle motion state of the target simulation vehicle in the parallel simulation vehicle position; when the vehicle motion state is the vehicle not cut-out state, step S501 is executed.

[0221] Among them, the vehicle cut-out state can refer to the state that the target simulation vehicle is currently cutting out of the parallel simulation vehicle position.

[0222] Among them, the vehicle motion state of the target simulation vehicle can be obtained through a simulation application program.

[0223] S502. The electronic device determines whether the current vehicle state is the ready-to-cut-out state.

[0224] Among them, the ready-to-cut-out state can refer to the state that the target simulation vehicle is ready to cut out of the parallel simulation vehicle position.

[0225] When the current vehicle state is the ready-to-cut-out state, step S512 is executed; when the current vehicle state is not the ready-to-cut-out state, step S503 is executed.

[0226] S503. The electronic device determines whether the target simulation vehicle is in the prohibited cut-out state.

[0227] When the target simulation vehicle is in the prohibited cut-out state, step S514 is executed; when the target simulation vehicle is not in the prohibited cut-out state, step S504 is executed.

[0228] S504. The electronic device obtains the vehicle information in the parallel simulation vehicle position and identifies multiple candidate simulation data corresponding to the candidate dimensions in the reference simulation data included in the vehicle information.

[0229] Among them, the vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, and the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle.

[0230] Specifically, the electronic device can determine the target simulation vehicle and the adjacent vehicles of the target simulation vehicle among multiple simulation vehicles in the parallel simulation vehicle position; obtain the vehicle position and reference simulation data of the target simulation vehicle, and obtain the candidate vehicle positions of the adjacent vehicles; generate the vehicle information in the parallel simulation vehicle position based on the vehicle position and reference simulation data of the target simulation vehicle, and the candidate vehicle positions of the adjacent vehicles.

[0231] S505. The electronic device fuses the candidate simulation data to obtain candidate motion simulation data corresponding to the target simulation vehicle in the candidate dimension.

[0232] Specifically, the electronic device can fuse the candidate simulation data to obtain candidate motion virtual data corresponding to the target simulation vehicle in the candidate dimension; obtain the motion adjustment data of the target simulation vehicle, and based on the motion adjustment data, adjust the candidate motion virtual data to obtain candidate motion simulation data corresponding to the target simulation vehicle in the candidate dimension.

[0233] S506. The electronic device determines collision data in at least one dimension between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position.

[0234] Specifically, the electronic device can obtain the standard parking position corresponding to the target simulation vehicle and the candidate standard parking position corresponding to the adjacent vehicle; when the vehicle position is the same as the standard vehicle and the candidate standard parking position is the same as the candidate vehicle position, determine the collision data in at least one dimension between the target simulation vehicle and the adjacent vehicle based on the parking space data of the parallel simulation parking space and the vehicle data of the target simulation vehicle.

[0235] S507. The electronic device identifies the target simulation data corresponding to the target dimension in the reference simulation data.

[0236] S508. The electronic device determines the target motion simulation data corresponding to the target simulation vehicle in the target dimension based on the target simulation data and the candidate simulation data.

[0237] Specifically, the electronic device can calculate the alternative motion data of the target simulation vehicle in the target dimension based on the target simulation data and the candidate simulation data, and obtain the preset motion limit data corresponding to the target simulation vehicle in the target dimension; screen out the initial simulation data of the target simulation vehicle from the alternative motion data and the preset motion limit data; based on the initial simulation data, simulate the target simulation vehicle in the target dimension to obtain the target motion simulation data corresponding to the target simulation vehicle in the target dimension.

[0238] S509. The electronic device generates motion simulation data corresponding to the target simulation vehicle in each dimension according to the candidate motion simulation data and the target motion simulation data.

[0239] S510. The electronic device performs safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data to obtain a verification result.

[0240] Specifically, the electronic device can determine a target dimension in the dimensions and extract the target collision data corresponding to the target dimension from the collision data; query the safety motion simulation data corresponding to the target dimension in the motion simulation data based on the target collision data to obtain a query result; when there is safety motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data according to the safety motion simulation data to obtain a verification result.

[0241] S511. The electronic device determines whether the verification result is that the safety verification of the target simulation vehicle passes.

[0242] When the verification passes, step S512 is executed; when the verification fails, step S516 is executed.

[0243] S512. The electronic device filters out the target motion simulation data in the motion simulation data according to the reference simulation data.

[0244] S513. The electronic device generates a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space based on the target motion simulation data.

[0245] Specifically, the electronic device can obtain the lane information of the remaining road lanes corresponding to the parallel simulation parking space; based on the lane information, determine the lane safety status of the remaining road lanes; when the lane safety status is lane safety, generate a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space based on the target motion simulation data.

[0246] S514. The electronic device obtains the historical vehicle positions of adjacent vehicles and determines the vehicle position status of adjacent vehicles based on the historical vehicle positions and the candidate vehicle positions.

[0247] Specifically, when the historical vehicle position and the candidate vehicle position are the same, it is determined that the vehicle position status of the adjacent vehicle is that the vehicle has not moved; when the historical vehicle position and the candidate vehicle position are different, it is determined that the vehicle position status of the adjacent vehicle is that the vehicle has moved.

[0248] S515. The electronic device determines whether the vehicle position status is that the vehicle has moved.

[0249] When the vehicle position status is that the vehicle has moved, return to execute step S506; when the vehicle position status is that the vehicle has not moved, return to execute step S514.

[0250] S516. The electronic device obtains the simulation correction data of the target simulation vehicle and corrects the reference simulation data based on the simulation correction data to obtain the corrected simulation data.

[0251] Specifically, the electronic device can subtract the simulation correction data from the reference simulation data to obtain candidate correction data; when the candidate correction data is greater than a preset threshold, the candidate correction data is used as the corrected simulation data.

[0252] S517. The electronic device performs simulation on the target simulation vehicle based on the corrected simulation data to obtain the dimensional motion simulation data corresponding to the target simulation vehicle in at least one dimension.

[0253] S518. The electronic device generates backup motion simulation data according to the dimensional motion simulation data.

[0254] S519. The electronic device uses the backup motion simulation data as the motion simulation data and returns to execute step S512.

[0255] For the specific implementation of each of the above operations, reference may be made to the previous embodiments, which will not be elaborated herein.

[0256] This application can obtain vehicle information in a parallel simulation parking space. The vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, and the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle. Based on the vehicle position and the candidate vehicle positions, at least one dimension of collision data between the target simulation vehicle and the adjacent vehicles is determined. According to the reference simulation data, motion simulation of the target simulation vehicle is performed to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension. Based on the collision data and the motion simulation data, safety verification of the target simulation vehicle under the reference simulation data is performed. When the verification is passed, target motion simulation data is screened out from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space is generated. Since this application can use the vehicle position and the candidate vehicle positions to determine the collision data between the target simulation vehicle and the adjacent vehicles in the parallel simulation parking space, and perform motion simulation on the target simulation vehicle based on the reference simulation data of the target simulation vehicle to obtain the motion simulation data of the target simulation vehicle, in this way, the collision data and the motion simulation data can be used to perform safety verification on the target simulation vehicle to improve the accuracy of the reference simulation data. Thus, when the verification is passed, based on the target motion simulation data screened out from the motion simulation data, a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space can be quickly generated to improve the simulation efficiency and simulation accuracy of the vehicle driving trajectory.

[0257] To better implement the above method, an embodiment of this application further provides a vehicle simulation device. The vehicle simulation device can be integrated in an electronic device, such as a server or a terminal device, etc. The terminal can include a tablet computer, a notebook computer, and / or a personal computer, etc.

[0258] In the embodiments of the present application, the term "module" or "unit" refers to a computer program with a predetermined function or a part of a computer program, which works together with other related parts to achieve a predetermined goal, and can be fully or partially implemented by using software, hardware (such as a processing circuit or a memory), 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 a part of the overall module or unit that includes the function of the module or unit.

[0259] For example, as Figure 9 shown, the vehicle simulation device may include an acquisition unit 301, a determination unit 302, a simulation unit 303, a verification unit 304, and a generation unit 305, as follows:

[0260] (1) Acquisition unit 301;

[0261] The acquisition unit 301 can be used to acquire vehicle information in the parallel simulation parking space. The vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, as well as the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle.

[0262] (2) Determination unit 302;

[0263] The determination unit 302 can be used to determine the collision data in at least one dimension between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position.

[0264] For example, the determination unit 302 can be used to acquire the historical vehicle position of the adjacent vehicle, and determine the vehicle position state of the adjacent vehicle based on the historical vehicle position and the candidate vehicle position; when the vehicle position state is that the vehicle has moved, determine the collision data in at least one dimension between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position.

[0265] (3) Simulation unit 303;

[0266] The simulation unit 303 can be used to perform motion simulation on the target simulation vehicle according to the reference simulation data to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension.

[0267] For example, the simulation unit 303 can be used to identify the target simulation data corresponding to the target dimension and multiple candidate simulation data corresponding to the candidate dimensions in the reference simulation data; fuse the candidate simulation data to obtain the candidate motion simulation data corresponding to the target simulation vehicle in the candidate dimensions; determine the target motion simulation data corresponding to the target simulation vehicle in the target dimension based on the target simulation data and the candidate simulation data; and generate the motion simulation data corresponding to the target simulation vehicle in each dimension according to the candidate motion simulation data and the target motion simulation data.

[0268] For another example, the simulation unit 303 can be used to fuse candidate simulation data to obtain candidate motion virtual data corresponding to the target simulation vehicle in the candidate dimension; obtain motion adjustment data of the target simulation vehicle, and based on the motion adjustment data, adjust the candidate motion virtual data to obtain candidate motion simulation data corresponding to the target simulation vehicle in the candidate dimension.

[0269] (4) Verification unit 304;

[0270] The verification unit 304 can be used to perform safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data.

[0271] For example, the verification unit 304 can be used to determine a target dimension in the dimension and extract target collision data corresponding to the target dimension from the collision data; query the safety motion simulation data corresponding to the target dimension in the motion simulation data based on the target collision data to obtain a query result; when there is safety motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data according to the safety motion simulation data to obtain a verification result.

[0272] (5) Generation unit 305;

[0273] The generation unit 305 can be used to, when the verification is passed, screen out target motion simulation data from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, generate a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space.

[0274] For example, the generation unit 305 can also be used to, when the verification fails, obtain simulation correction data of the target simulation vehicle, and based on the simulation correction data, correct the reference simulation data to obtain corrected simulation data; perform simulation on the target simulation vehicle based on the corrected simulation data to obtain dimension motion simulation data corresponding to the target simulation vehicle in at least one dimension, and generate backup motion simulation data according to the dimension motion simulation data; use the backup motion simulation data as the motion simulation data, and return to execute the step of performing safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data until the safety verification of the target simulation vehicle passes, so as to obtain a driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space.

[0275] As can be seen from the above, the obtaining unit 301 can be used to obtain vehicle information in the parallel simulation parking space. The vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, as well as the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle. The determining unit 302 can be used to determine at least one-dimensional collision data between the target simulation vehicle and the adjacent vehicles based on the vehicle position and the candidate vehicle positions. The simulation unit 303 can be used to perform motion simulation on the target simulation vehicle according to the reference simulation data to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension. The verification unit 304 can be used to perform safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data. The generating unit 305 can be used to, when the verification is passed, screen out the target motion simulation data from the motion simulation data according to the reference simulation data, and generate the driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space based on the target motion simulation data. Since the present application can use the vehicle position and the candidate vehicle positions to determine the collision data between the target simulation vehicle and the adjacent vehicles in the parallel simulation parking space, and perform motion simulation on the target simulation vehicle based on the reference simulation data of the target simulation vehicle to obtain the motion simulation data of the target simulation vehicle, in this way, the collision data and the motion simulation data can be used to perform safety verification on the target simulation vehicle to improve the accuracy of the reference simulation data. Thus, when the verification is passed, based on the target motion simulation data screened out from the motion simulation data, the driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space can be quickly generated to improve the simulation efficiency and simulation accuracy of the vehicle driving trajectory.

[0276] An embodiment of the present application further provides an electronic device, as Figure 10 shown, which shows a schematic structural diagram of the electronic device involved in the embodiment of the present invention. Specifically:

[0277] The electronic device may include a processor 401 with one or more processing cores, a memory 402 with one or more computer-readable storage media, a power supply 403, an input unit 404, and other components. Those skilled in the art can understand that Figure 10 the structural diagram of the electronic device shown in

[0278] The processor 401 is the control center of the electronic device, connecting various parts of the entire electronic device through various interfaces and circuits. By running or executing software programs and / or modules stored in the memory 402, and by invoking the data stored in the memory 402, it executes various functions of the electronic device and processes data. Optionally, the processor 401 may include one or more processing cores; preferably, the processor 401 may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor may not be integrated into the processor 401 either.

[0279] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402. The memory 402 mainly includes a program storage area and a data storage area. Among them, the program storage area can store the operating system, application programs required for at least one function (such as the sound playback function, image playback function, etc.); the data storage area can store the data created according to the use of the electronic device. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage devices. Correspondingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0280] The electronic device also includes a power supply 403 that powers each component. Preferably, the power supply 403 can be logically connected to the processor 401 through a power management system, so as to implement functions such as management of charging, discharging, and power consumption management through the power management system. The power supply 403 may also include any components such as one or more DC or AC power supplies, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator.

[0281] The electronic device may further include an input unit 404, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function controls.

[0282] Although not shown, the electronic device may also include a display unit, etc., which will not be elaborated here. Specifically, in this embodiment, the processor 401 in the electronic device will load the executable files corresponding to the processes of one or more application programs into the memory 402 according to the following instructions, and the processor 401 will run the application programs stored in the memory 402 to implement various functions as follows:

[0283] Obtain vehicle information in a parallel simulation parking space, where the vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, as well as the candidate vehicle positions of the adjacent vehicles of the target simulation vehicle; based on the vehicle position and the candidate vehicle positions, determine the collision data in at least one dimension between the target simulation vehicle and the adjacent vehicles; according to the reference simulation data, perform motion simulation on the target simulation vehicle to obtain the motion simulation data corresponding to the target simulation vehicle in each dimension; based on the collision data and the motion simulation data, perform safety verification on the target simulation vehicle under the reference simulation data; when the verification passes, screen out the target motion simulation data from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, generate the driving trajectory for the target simulation vehicle to cut out of the parallel simulation parking space.

[0284] For the specific implementation of each of the above operations, reference may be made to the previous embodiments, which will not be elaborated here.

[0285] Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by a computer program, or by controlling related hardware through a computer program. The computer program can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0286] Therefore, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored, and the computer program can be loaded by a processor to execute any vehicle simulation method provided by the embodiments of the present application.

[0287] For the specific implementation of each of the above operations, reference may be made to the previous embodiments, which will not be elaborated here.

[0288] Among them, the computer-readable storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk, etc.

[0289] Since the instructions stored in the computer-readable storage medium can execute the steps in any vehicle simulation method provided by the embodiments of the present application, the beneficial effects that can be achieved by any vehicle simulation method provided by the embodiments of the present application can be realized. For details, reference may be made to the previous embodiments, which will not be elaborated here.

[0290] Among them, according to an aspect of the present application, a computer program product or a computer program is provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. The processor of the electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the methods provided in the various optional implementation manners provided by the above embodiments.

[0291] The above has introduced in detail a vehicle simulation method, device, electronic device, computer-readable storage medium and computer program product provided by the embodiments of the present application. Specific examples are used herein to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A vehicle simulation method, characterized in that, comprising: Obtaining vehicle information in a parallel simulation parking space, where the vehicle information includes the vehicle position and reference simulation data of a target simulation vehicle, and the candidate vehicle positions of adjacent vehicles of the target simulation vehicle; Based on the vehicle position and the candidate vehicle positions, determining collision data in at least one dimension between the target simulation vehicle and the adjacent vehicles; According to the reference simulation data, performing motion simulation on the target simulation vehicle to obtain motion simulation data corresponding to the target simulation vehicle in each dimension; Based on the collision data and the motion simulation data, performing safety verification on the target simulation vehicle under the reference simulation data; When the verification passes, screening out target motion simulation data from the motion simulation data according to the reference simulation data, and based on the target motion simulation data, generating a driving trajectory for the target simulation vehicle to exit the parallel simulation parking space.

2. The vehicle simulation method according to claim 1, characterized in that, The performing safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data includes: Determining a target dimension in the dimension, and extracting target collision data corresponding to the target dimension from the collision data; Querying for safety motion simulation data corresponding to the target dimension in the motion simulation data based on the target collision data to obtain a query result; When there is safety motion simulation data, performing safety verification on the target simulation vehicle under the reference simulation data according to the safety motion simulation data to obtain a verification result.

3. The vehicle simulation method according to claim 2, characterized in that, The performing safety verification on the target simulation vehicle under the reference simulation data according to the safety motion simulation data to obtain a verification result includes: Screening out candidate dimensions in the dimension, and determining candidate collision data corresponding to the candidate dimensions in the collision data; According to the safety motion simulation data, extracting candidate motion simulation data corresponding to the candidate dimensions in the motion simulation data; Based on the candidate collision data, verifying the candidate motion simulation data to obtain the verification result.

4. The vehicle simulation method according to claim 2, characterized in that, The querying for safety motion simulation data corresponding to the target dimension in the motion simulation data based on the target collision data to obtain a query result includes: Determining a plurality of basic motion simulation data corresponding to the target dimension in the motion simulation data, and determining adjacent reference motion simulation data in the basic motion simulation data; Comparing the target collision data with the reference motion simulation data to obtain a comparison result; When the comparison result is that the target collision data is between adjacent reference motion simulation data, determining that there is safety motion simulation data in the query result; When the comparison result is that the target collision data is not between adjacent reference motion simulation data, determining that there is no safety motion simulation data in the query result.

5. The vehicle simulation method according to claim 1, characterized in that performing motion simulation on the target simulation vehicle according to the reference simulation data to obtain motion simulation data corresponding to each dimension of the target simulation vehicle, including: identifying target simulation data corresponding to a target dimension and a plurality of candidate simulation data corresponding to candidate dimensions in the reference simulation data; fusing the candidate simulation data to obtain candidate motion simulation data corresponding to the candidate dimensions of the target simulation vehicle; determining target motion simulation data corresponding to the target dimension of the target simulation vehicle based on the target simulation data and the candidate simulation data; generating motion simulation data corresponding to each dimension of the target simulation vehicle according to the candidate motion simulation data and the target motion simulation data.

6. The vehicle simulation method according to claim 5, characterized in that the fusing the candidate simulation data to obtain candidate motion simulation data corresponding to the candidate dimensions of the target simulation vehicle includes: fusing the candidate simulation data to obtain candidate motion virtual data corresponding to the candidate dimensions of the target simulation vehicle; acquiring motion adjustment data of the target simulation vehicle, and adjusting the candidate motion virtual data based on the motion adjustment data to obtain candidate motion simulation data corresponding to the candidate dimensions of the target simulation vehicle.

7. The vehicle simulation method according to claim 6, characterized in that the candidate motion virtual data includes a plurality of sub-motion virtual data; the acquiring motion adjustment data of the target simulation vehicle includes: screening out target sub-motion virtual data from the sub-motion virtual data, and acquiring preset movement data corresponding to the candidate dimensions of the target simulation vehicle; fusing the target sub-motion virtual data and the preset movement data to obtain motion adjustment data of the target simulation vehicle.

8. The vehicle simulation method according to claim 5, characterized in that the determining target motion simulation data corresponding to the target dimension of the target simulation vehicle based on the target simulation data and the candidate simulation data includes: calculating alternative motion data of the target simulation vehicle in the target dimension based on the target simulation data and the candidate simulation data, and acquiring preset motion limit data corresponding to the target dimension of the target simulation vehicle; screening out initial simulation data of the target simulation vehicle from the alternative motion data and the preset motion limit data; performing simulation on the target simulation vehicle in the target dimension based on the initial simulation data to obtain target motion simulation data corresponding to the target dimension of the target simulation vehicle.

9. The vehicle simulation method according to claim 8, characterized in that the screening out initial simulation data of the target simulation vehicle from the alternative motion data and the preset motion limit data includes: when the alternative motion data is greater than the preset motion limit data, using the preset motion limit data as the initial simulation data of the target simulation vehicle; When the alternative motion data is less than or equal to the preset motion limit data, the alternative motion data is used as the initial simulation data of the target simulation vehicle.

10. The vehicle simulation method according to claim 1, wherein, after performing safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data, the method further includes: when the verification fails, obtaining simulation correction data of the target simulation vehicle, and based on the simulation correction data, correcting the reference simulation data to obtain corrected simulation data; performing simulation on the target simulation vehicle based on the corrected simulation data to obtain dimension motion simulation data corresponding to the target simulation vehicle in at least one dimension, and generating alternative motion simulation data according to the dimension motion simulation data; using the alternative motion simulation data as the motion simulation data, and returning to execute the step of performing safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data until the safety verification of the target simulation vehicle passes, so as to obtain the driving trajectory of the target simulation vehicle exiting the parallel simulation parking space.

11. The vehicle simulation method according to claim 1, wherein, determining at least one dimension of collision data between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position includes: obtaining the historical vehicle position of the adjacent vehicle, and determining the vehicle position state of the adjacent vehicle based on the historical vehicle position and the candidate vehicle position; when the vehicle position state is that the vehicle has moved, determining at least one dimension of collision data between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position.

12. A vehicle simulation device, wherein, it includes: an acquisition unit, configured to acquire vehicle information in a parallel simulation parking space, where the vehicle information includes the vehicle position and reference simulation data of the target simulation vehicle, and the candidate vehicle position of the adjacent vehicle of the target simulation vehicle; a determination unit, configured to determine at least one dimension of collision data between the target simulation vehicle and the adjacent vehicle based on the vehicle position and the candidate vehicle position; a simulation unit, configured to perform motion simulation on the target simulation vehicle according to the reference simulation data to obtain motion simulation data corresponding to the target simulation vehicle in each dimension; a verification unit, configured to perform safety verification on the target simulation vehicle under the reference simulation data based on the collision data and the motion simulation data; a generation unit, configured to, when the verification passes, screen out target motion simulation data from the motion simulation data according to the reference simulation data, and generate the driving trajectory of the target simulation vehicle exiting the parallel simulation parking space based on the target motion simulation data.

13. An electronic device, wherein, Comprising a processor and a memory, the memory stores an application program, and the processor is configured to run the application program in the memory to execute the steps in the vehicle simulation method according to any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, and the computer program is adapted to be loaded by a processor to execute the vehicle simulation method according to any one of claims 1 to 11.

15. A computer program product, characterized in that the computer program product stores a computer program, and the computer program is adapted to be loaded by a processor to execute the vehicle simulation method according to any one of claims 1 to 11.

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