Simulation test method and device, electronic equipment and computer readable storage medium

Abstract

The invention relates to a simulation test method and device, electronic equipment and a readable storage medium, and the method comprises the steps: obtaining the driving data of a to-be-tested vehicle under a target environment condition in the real world, the target environment condition comprising at least one of a road surface condition, a wind speed interval, a wind direction and a temperature interval; according to the driving data, determining a target vehicle dynamics model corresponding to the to-be-tested vehicle, the target vehicle dynamics model being a vehicle dynamics model corresponding to the target environment condition in a plurality of vehicle dynamics models of the to-be-tested vehicle; and performing a simulation test in the virtual simulation scene by using the target vehicle dynamics model. According to the method, the target vehicle dynamic model and the environment condition where the to-be-tested vehicle is located have high adaptability, and therefore the authenticity of the simulation test result can be improved by conducting simulation test on the to-be-tested vehicle through the target vehicle dynamic model.

Description

Technical Field

[0001] This application belongs to the field of traffic simulation technology, and particularly relates to a simulation test method, apparatus, electronic device, and computer-readable storage medium. Background Art

[0002] With the development of autonomous driving technology, the research on autonomous vehicles has become increasingly intense. When autonomous vehicles are applied to the real traffic environment, they need to face complex traffic environments and various possible unexpected events. Therefore, in order to ensure the safety of autonomous vehicles, autonomous driving tests have become an essential part of the research and development process of autonomous vehicles. Generally speaking, autonomous driving tests include on-road vehicle tests and simulation tests. Simulation tests have higher safety and lower costs than on-road vehicle tests. Therefore, the proportion of simulation tests in current autonomous driving tests is as high as 90%.

[0003] Autonomous driving simulation tests mainly digitally restore the application scenarios of autonomous driving in the form of mathematical modeling, establish a system model as close as possible to the real world, and achieve the purpose of testing and verifying autonomous driving systems and algorithms through software simulation tests. In autonomous driving simulation tests, vehicle dynamics models are used to simulate the response of the vehicle under test to the control of autonomous driving algorithms, especially the response to acceleration, braking, and steering.

[0004] Generally speaking, the driving behavior of the vehicle under test in the real world will be affected by the environmental conditions. However, when performing simulation tests based on the driving data collected from real vehicles currently, it is impossible to adaptively adjust the dynamics model according to different environmental data, so that the driving behavior of the simulation vehicle based on the vehicle dynamics model is quite different from that of the vehicle under test in the real world, that is, the difference between the simulation vehicle based on the vehicle dynamics model and the vehicle under test in the real world is large, resulting in poor authenticity of the simulation test. Summary of the Invention

[0005] The embodiments of this application provide a simulation test method, apparatus, electronic device, and computer-readable storage medium, which solve the technical problem in the prior art that the authenticity of the simulation test is poor because the vehicle dynamics model does not consider environmental conditions.

[0006] In a first aspect, an embodiment of the present application provides a simulation test method, including: obtaining driving data of a vehicle to be tested in a target environment condition in the real world, where the target environment condition includes at least one of road surface conditions, wind speed range, wind direction, and temperature range; determining a target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data, where the target vehicle dynamics model is: among multiple vehicle dynamics models of the vehicle to be tested, the vehicle dynamics model corresponding to the target environment condition; and performing a simulation test in a virtual simulation scenario using the target vehicle dynamics model.

[0007] In the above method, the target vehicle dynamics model is determined by the driving data of the vehicle to be tested in the target environment. The target vehicle dynamics model corresponds to the vehicle to be tested and the target environment condition. When performing a simulation test on the vehicle to be tested, the target vehicle dynamics model is used. Since the target vehicle dynamics model has a strong adaptability to the environmental conditions where the vehicle to be tested is located, using the target vehicle dynamics model to perform a simulation test on the vehicle to be tested can improve the authenticity of the simulation test results.

[0008] In one embodiment, determining a target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data includes: using the driving data to determine the environmental category to which the target environment condition belongs; and determining the target vehicle dynamics model according to the environmental category to which the target environment condition belongs. In this embodiment, the driving data is used to determine the environmental category, and then the target vehicle dynamics model is determined, without the need for actual measurement of the target environment condition, thereby avoiding the addition of hardware for detecting environmental conditions and without increasing the hardware cost while improving the authenticity of the simulation test results.

[0009] In one embodiment, the driving data includes: the acceleration and jerk of the vehicle to be tested at multiple different times; using the driving data to determine the environmental category to which the target environment condition belongs includes: determining the acceleration-time curve and jerk-time curve of the vehicle to be tested according to the acceleration and jerk of the vehicle to be tested at multiple different times; and determining the environmental category to which the target environment condition belongs using the acceleration-time curve and jerk-time curve. Since the environmental conditions will be more obvious in the manifestation of the acceleration and jerk of the vehicle, in this embodiment, the acceleration-time curve and jerk-time curve are used to distinguish the environmental category, that is, the influence of the environmental conditions on the vehicle is reflected through the curves of acceleration and jerk, ensuring the accuracy of the results while avoiding the addition of hardware.

[0010] In one embodiment, each vehicle dynamics model includes mapping relation data, and the mapping relation data included in different vehicle dynamics models is different. The mapping relation data includes: the mapping relation between the control variables of each vehicle dynamics model and the theoretical state variables under the environmental conditions corresponding to each vehicle dynamics model; the control variables include: the input control parameters of each vehicle dynamics model, and the theoretical state variables include: the theoretical vehicle state parameters output by each vehicle dynamics model corresponding to the input control parameters. In this embodiment, for different vehicle dynamics models corresponding to the same vehicle to be measured, the difference lies in the different mapping relation data, and the mapping relation data is the mapping relation between the control variables and the theoretical state variables of the vehicle dynamics model. That is, for different vehicle dynamics models of the same vehicle to be measured, when the same control variables are input, different theoretical vehicle state parameters will be obtained. By setting the difference between different vehicle dynamics models as different mapping relation data, the method is simple and easy to implement.

[0011] In one embodiment, the mapping relation data includes a first mapping relation and a second mapping relation. The first mapping relation includes the mapping relation between speed and the throttle and brake opening degrees, and the second mapping relation includes the mapping relation between the vehicle yaw angular velocity and the steering wheel steering angle. In this embodiment, the mapping relation data includes the mapping relation between speed and the throttle and brake opening degrees, and the mapping relation between the vehicle yaw angular velocity and the steering wheel steering angle. These two mapping relations are the two sets of mapping relations most closely related to the environmental conditions. By differentiating different vehicle dynamics models through the differences in these two mapping relations, the role of environmental conditions in the vehicle dynamics model can be fully reflected.

[0012] In one embodiment, determining the target vehicle dynamics model according to the environmental category to which the target environmental condition belongs includes: if the environmental category to which the target environmental condition belongs is the same as the first environmental category among multiple preset environmental categories, then determining the mapping relation data corresponding to the first environmental category as the target mapping relation data. Among the multiple preset environmental categories: there is a corresponding relationship between the environmental category and the mapping relation data, and the first environmental category is any one of the multiple preset environmental categories; determining the vehicle dynamics model to which the target mapping relation data belongs as the target vehicle dynamics model. In this embodiment, multiple environmental categories are preset, and there is a corresponding relationship between the environmental category and the mapping relation data among the multiple preset environmental categories. By comparing the environmental category corresponding to the target environment with the multiple preset environmental categories, the target environmental category is determined. The method is simple and easy to implement.

[0013] In one embodiment, determining a target vehicle dynamics model according to the environmental category to which the target environmental condition belongs includes: if the environmental category to which the target environmental condition belongs is different from each of multiple preset environmental categories, using driving data to determine target mapping relationship data, where there is a corresponding relationship between the environmental category and the mapping relationship data among the multiple preset environmental categories; and determining the vehicle dynamics model to which the target mapping relationship data belongs as the target vehicle dynamics model. In this embodiment, when there is no environmental category corresponding to the target environment among the preset multiple environmental categories, the target vehicle dynamics model is determined according to the driving data, which improves the applicable range of the method.

[0014] In one embodiment, the driving data includes: the speed, throttle and brake opening, vehicle yaw rate, and steering wheel angle of the vehicle to be tested at multiple different times; the target mapping relationship data includes: a first mapping relationship and a second mapping relationship. In the first mapping relationship: the speed at the same time corresponds to the throttle and brake opening; in the second mapping relationship: the vehicle yaw rate at the same time corresponds to the steering wheel angle. In this embodiment, when the environmental category corresponding to the target environment is a new environmental category, the speed, throttle and brake opening, vehicle yaw rate, and steering wheel angle at multiple different times in the driving data are used to form the first mapping relationship and the second mapping relationship, and the method is simple and easy to implement.

[0015] In one embodiment, the method further includes: storing the corresponding relationship between the environmental category to which the target environmental condition belongs and the mapping relationship data of the target vehicle dynamics model. In this embodiment, when the environmental category corresponding to the target environment is a new environmental category, the corresponding relationship between the new environmental category and the target mapping relationship data is stored to increase the amount of data on the corresponding relationship between the environmental category and the mapping relationship data, so that the corresponding relationship can be directly called when the environmental category appears later, improving the data processing efficiency.

[0016] In a second aspect, an embodiment of the present application provides a simulation test device, which includes units for executing each step of the method in any one of the above first aspects.

[0017] In a third aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method in any one of the above first aspects when executing the computer program.

[0018] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and the computer program implements the method in any one of the above first aspects when executed by a processor.

[0019] In a fifth aspect, an embodiment of the present application provides a chip, including: a processor configured to call and run a computer program from a memory, so that an electronic device installed with the chip executes the method according to any one of the above first aspects.

[0020] It can be understood that the beneficial effects of the above second aspect to fifth aspect can be referred to the relevant descriptions in the above first aspect, and will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1 It is a schematic diagram of the application environment of the simulation test method provided by an embodiment of the present application;

[0023] Figure 2 It is a schematic flowchart of the simulation test method provided by an embodiment of the present application;

[0024] Figure 3 It is a structural block diagram of the simulation test device provided by an embodiment of the present application;

[0025] Figure 4 It is an internal structure diagram of the electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0027] It should be understood that when used in the specification and claims of the present application, the term "including" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0028] It should also be understood that the term "and / or" used in the specification and claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0029] As used in the specification of this application and the appended claims, the term "if" may be construed, depending on the context, as "when" or "once" or "in response to determining" or "in response to detecting". Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be construed, depending on the context, to mean "once determined" or "in response to determining" or "once [described condition or event] is detected" or "in response to detecting [described condition or event]".

[0030] In addition, in the description of the specification of this application and the appended claims, the terms "first", "second", "third", etc. are used only for distinguishing descriptions and shall not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more such features. In the description of this application, "a plurality of" means two or more, unless otherwise specifically defined.

[0031] Reference to "one embodiment" or "some embodiments" or the like described in the specification of this application means that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in another way. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in another way.

[0032] In the simulation test of an autonomous vehicle, a vehicle dynamics model is used to simulate the vehicle to be tested, so as to evaluate the decision-making and control algorithms of the autonomous driving system of the autonomous vehicle. That is, in the autonomous driving test, a vehicle dynamics model is generally selected as the vehicle model, so as to form a simulated vehicle corresponding to the vehicle to be tested in the simulation environment. The autonomous driving system of the autonomous vehicle controls the simulated vehicle to drive in the simulation environment, obtains the simulation driving information of the simulated vehicle in the simulation environment, and evaluates the decision-making and control algorithms of the autonomous driving system of the autonomous vehicle according to the simulation driving information, and then completes the simulation test.

[0033] Generally speaking, the driving behavior of a vehicle to be tested in the real world is affected by the environmental conditions it is in. However, when conducting simulation tests based on the driving data collected from real vehicles currently, it is impossible to adaptively adjust the dynamic model according to different environmental data. That is, the vehicle dynamic model used in the current simulation test is not associated with the environmental data, and the driving behavior of the simulated vehicle based on the vehicle dynamic model cannot reflect the influence of the environmental data. Therefore, there are significant differences between the driving behavior of the simulated vehicle and the driving behavior of the vehicle to be tested in the real world, resulting in poor authenticity of the simulation test.

[0034] To solve the above technical problems, an embodiment of the present application provides a simulation test method. By presetting multiple vehicle dynamic models for the vehicle to be tested, different vehicle dynamic models correspond to different environmental conditions; after obtaining the driving data of the vehicle to be tested under the target environmental conditions in the real world, the target vehicle dynamic model corresponding to the target environmental conditions is determined from the multiple preset vehicle dynamic models according to the driving data, and then the target vehicle dynamic model is used to conduct the simulation test. The target vehicle dynamic model used in the simulation test is a vehicle dynamic model that takes into account the target environmental conditions of the vehicle to be tested, ensuring the adaptability of the target vehicle dynamic model used to the target environmental conditions and improving the authenticity of the simulation results.

[0035] The following will exemplarily illustrate the simulation test method provided by the present application in combination with specific embodiments.

[0036] See Figure 1 , which is a schematic diagram of the application environment of the simulation test method provided by an embodiment of the present application. As Figure 1 shown, the electronic device 110 is used to conduct a simulation test on the vehicle to be tested. During the simulation test, the display screen of the electronic device 110 can display a simulation interface 120, and the driving process of the simulated vehicle 121 in the virtual simulation scene 122 is displayed in the simulation interface 120.

[0037] Among them, the vehicle to be tested is a vehicle in the real world (for example, it can be an autonomous driving vehicle), the simulated vehicle 121 is a vehicle model corresponding to the vehicle to be tested, and the simulation scene 122 is a road model obtained by simulating the driving environment of the vehicle to be tested in the real world.

[0038] The simulation test method provided by an embodiment of the present invention can be applied to an autonomous driving simulation platform, and this autonomous driving simulation platform can run in the Figure 1 shown electronic device 110. The electronic device 110 executes the simulation test method provided by an embodiment of the present invention through the autonomous driving simulation platform to simulate the driving behavior of the vehicle to be tested in the real world.

[0039] It can be understood that during the simulation test, the electronic device 110 obtains the driving data of the vehicle to be tested in the real world. This driving data is the driving data under specific environmental conditions, and the environmental conditions may include at least one of the following: road surface condition, wind speed range, wind direction, and temperature range. Then, the electronic device 110 determines the target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data. Finally, the electronic device 110 uses the target vehicle dynamics model to perform a simulation test in a virtual simulation scenario to obtain the driving behavior of the simulated vehicle 121 in the simulation scenario 122.

[0040] It should be understood that the electronic device 110 may be a smart phone, a tablet computer, a notebook computer, a desktop computer, a vehicle-mounted terminal, or a server, etc., and the present application does not limit this.

[0041] In some embodiments, the electronic device 110 may be a simulation controller in a simulation platform. After obtaining the driving data of the vehicle to be tested in the real world, the electronic device 110 performs a simulation in the simulation platform.

[0042] Based on the application scenario schematic diagram of the simulation test method as Figure 1 shown, in one embodiment of the present application, a simulation test method as Figure 2 shown is provided. Taking the application of this method to the above-mentioned electronic device as an example for description, it can be understood that the following description is only an example and does not constitute a limitation to the protection scope of the present application. As Figure 2 shown, this method may include S210 to S230. The following describes each step.

[0043] Step S210: Obtain the driving data of the vehicle to be tested under the target environmental conditions in the real world, where the target environmental conditions include at least one of the following: road surface condition, wind speed range, wind direction, and temperature range.

[0044] In the embodiments of the present application, the environmental conditions refer to the external conditions that affect the driving behavior of the vehicle. For example, it may be at least one of the road surface condition, wind speed range, wind direction, and temperature range.

[0045] Exemplarily, the road surface condition may be characterized by at least one of the road surface material (for example, it may be an asphalt road surface, a cement road surface, a gravel road surface, a soil road surface, etc.) and the flatness; the wind direction may include a headwind, a tailwind, or a crosswind, etc.; the wind speed may be characterized by a wind speed range or a wind force level; the temperature may be represented by a specific temperature value or a temperature range.

[0046] It can be understood that the target environmental conditions are a specific environmental condition when the vehicle to be tested is driving in the real world. For example, the target environmental conditions may be: an asphalt road surface, a headwind, a wind force of level 3, and a temperature range of 25°C - 28°C.

[0047] In some embodiments, the target environmental conditions may only include some of the road surface conditions, wind speed range, wind direction, and temperature range, and the present application will not elaborate on this.

[0048] In the embodiments of the present application, the driving data may include the state data of the vehicle to be tested when driving under the target environmental conditions, and the state data may include the driving state shown by the vehicle and may also include the control data of the vehicle.

[0049] For example, the driving data may include multiple sets of data, each set corresponding to a moment, and each set of data includes the acceleration, jerk, speed, vehicle yaw rate, throttle and brake opening, steering wheel angle, etc. of the vehicle to be tested at the corresponding moment, and the present application does not limit this.

[0050] It should be understood that the jerk in the present application may also be referred to as the jolt or the rate of change of force, which is the rate of change of acceleration. The vehicle yaw rate refers to the speed at which the vehicle body rotates around the vertical axis during a turn of the vehicle to be tested; the steering wheel angle refers to the steering angle of the steering wheel of the vehicle to be tested.

[0051] It should be understood that acceleration, jerk, speed, and vehicle yaw rate are the driving states of the vehicle, while the throttle and brake opening and the steering wheel angle are the control data of the vehicle.

[0052] Step S220: Determine the target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data. The target vehicle dynamics model is: among the multiple vehicle dynamics models of the vehicle to be tested, the vehicle dynamics model corresponding to the target environmental conditions.

[0053] It can be understood that the same vehicle to be tested will correspond to multiple vehicle dynamics models, and each vehicle dynamics model corresponds to an environmental condition, that is, the vehicle dynamics model in the embodiments of the present application is a dynamics model that takes into account the influence of environmental conditions.

[0054] Step S230: Use the target vehicle dynamics model to perform a simulation test in a virtual simulation scenario.

[0055] It can be understood that the process of performing a simulation test using the vehicle dynamics model is a conventional operation in the art and will not be elaborated here.

[0056] In the above method, the target vehicle dynamics model used in the simulation test is a vehicle dynamics model that takes into account the target environmental conditions where the vehicle to be tested is located, ensuring the adaptability of the target vehicle dynamics model used to the target environmental conditions and improving the authenticity of the simulation results.

[0057] For ease of understanding, the following provides an exemplary description of the specific process of obtaining the target vehicle dynamics model in the embodiments of the present application.

[0058] In the embodiments of the present application, a calibration table set can be preset. The calibration table set includes: the correspondence between environmental categories and calibration tables. Each calibration table corresponds to a vehicle dynamics model, and the vehicle dynamics models corresponding to different calibration tables are different.

[0059] In some embodiments, when determining the target vehicle dynamics model: using the driving data, determine the environmental category to which the target environmental condition belongs; according to the environmental category to which the target environmental condition belongs, determine the target vehicle dynamics model.

[0060] It can be understood that the acquisition of specific environmental conditions needs to be formed by continuously collecting data on the environment through specific sensors. In the embodiments of the present application, instead of directly measuring the environmental conditions, the driving data related to the vehicle to be measured is used to distinguish different environmental conditions, so as to obtain different environmental categories.

[0061] Exemplarily, different environmental conditions can be classified by the acceleration-time curve and the jerk-time curve, that is, the acceleration-time curve and the jerk-time curve corresponding to different environmental categories are different.

[0062] It should also be understood that in the embodiments of the present application, the differences between different vehicle dynamics models of the same vehicle to be measured mainly lie in the different mapping relationship data, while other parts of the vehicle dynamics models can be the same. Therefore, in the calibration table set, the mapping relationship data in different calibration tables are different.

[0063] Exemplarily, each vehicle dynamics model includes mapping relationship data, and the mapping relationship data included in different vehicle dynamics models are different. The mapping relationship data includes: the mapping relationship between the control variables of each vehicle dynamics model and the theoretical state variables of each vehicle dynamics model under the environmental conditions corresponding to each vehicle dynamics model; the control variables include: the input control parameters of each vehicle dynamics model, and the theoretical state variables include: the theoretical vehicle state parameters output by each vehicle dynamics model corresponding to the input control parameters.

[0064] In some embodiments, the control variables can be the brake and throttle opening degrees, and the corresponding theoretical vehicle state parameters are the speed. The mapping relationship data includes the mapping relationship between the speed and the brake and throttle opening degrees, and the mapping relationship between the vehicle yaw rate and the steering wheel steering angle.

[0065] Exemplarily, the mapping relationship data in each vehicle dynamics model includes a first mapping relationship and a second mapping relationship. The first mapping relationship includes the mapping relationship between the speed and the throttle and brake opening degrees, and the second mapping relationship includes the mapping relationship between the vehicle yaw rate and the steering wheel steering angle.

[0066] In some embodiments, when determining the environmental category to which the target environmental condition belongs by using driving data, it specifically includes: determining the acceleration-time curve and jerk-time curve of the vehicle to be measured according to the acceleration and jerk of the vehicle to be measured at multiple different times; using the acceleration-time curve and jerk-time curve to determine the environmental category to which the target environmental condition belongs.

[0067] Next, an exemplary description will be given of realizing the classification and categorization of different environmental categories through the acceleration-time curve and jerk-time curve.

[0068] It can be understood that in the embodiments of the present application, by acquiring and analyzing the driving data of the vehicle to be measured under various different environmental conditions, the environmental category division is realized, and the corresponding relationship between the environmental category and the vehicle dynamics model (or mapping relationship data) is obtained. The main process includes steps (1) to (5):

[0069] Step (1) Data acquisition: For various different environmental conditions, under each environmental condition, multiple groups of driving data of the vehicle to be measured are respectively obtained. Each group of driving data corresponds to a moment, and each group of driving data includes acceleration, jerk, speed, vehicle yaw rate, throttle and brake opening, and steering wheel steering angle.

[0070] Step (2) Curve acquisition: For each environmental condition, according to the acceleration and jerk in the multiple groups of driving data, the acceleration-time curve and jerk-time curve corresponding to this environmental condition are obtained.

[0071] Step (3) Environmental category division: The environmental category can be divided by training an environmental category recognition model through a machine learning algorithm, or the environmental category can also be divided by establishing a relationship table between the environmental category and the curve.

[0072] In some embodiments, after obtaining the acceleration-time curve and jerk-time curve of each environmental condition among various different environmental conditions, an environmental category recognition model can be trained through a machine learning algorithm. Input of the environmental category recognition model: acceleration-time curve, jerk-time curve, output of the environmental category recognition model: environmental category, and the training process of the model can adopt conventional methods, which will not be elaborated in the present application.

[0073] Exemplarily, when determining the environmental category to which the target environmental condition belongs by using driving data, it specifically includes: determining the acceleration-time curve and jerk-time curve of the vehicle to be measured according to the acceleration and jerk of the vehicle to be measured at multiple different times; inputting the acceleration-time curve and jerk-time curve into the environmental category recognition model to obtain the environmental category to which the target environmental condition belongs.

[0074] In some other embodiments, an environmental category - curve relationship table may also be established. In the environmental category - curve relationship table, each environmental category corresponds to an acceleration - time curve and a jerk - time curve.

[0075] Exemplarily, when determining the environmental category to which the target environmental condition belongs by using driving data, it specifically includes: determining the acceleration - time curve and jerk - time curve of the vehicle to be measured according to the acceleration and jerk of the vehicle to be measured at multiple different moments; determining the environmental category to which the target environmental condition belongs by comparing the acceleration - time curve and jerk - time curve of the vehicle to be measured with the curves corresponding to each environmental category in the environmental category - curve relationship table. The comparison between curves can be the comparison of descriptive information such as curvature or slope, which is not elaborated in this application.

[0076] Step (4) Obtaining mapping relationship data: Obtaining the mapping relationship data in the vehicle dynamics model of the vehicle to be measured under each environmental condition through multiple groups of driving data (for example: the mapping relationship between speed and throttle and brake opening degrees, and the mapping relationship between vehicle yaw rate and steering wheel steering angle).

[0077] Exemplarily, the mapping relationship can be represented in the form of a list or in the form of a fitting curve, which is not elaborated in this application.

[0078] Step (5) Storing the environmental category obtained in step (3) and the mapping relationship data obtained in step (4) into the calibration table set. The environmental category and the mapping relationship data corresponding to the same environmental condition are a set of environmental category - vehicle dynamics model corresponding relationships. Thus, in subsequent use, when the environmental category is obtained, the target vehicle dynamics model corresponding to it can be obtained through the calibration table set.

[0079] It can be understood that the existing environmental categories in the calibration table set are the preset environmental categories. Each environmental category corresponds to a set of mapping relationship data, and each set of mapping relationship data belongs to a vehicle dynamics model.

[0080] In some embodiments, determining the target vehicle dynamics model according to the environmental category to which the target environmental condition belongs includes: if the environmental category to which the target environmental condition belongs is the same as the first environmental category among multiple preset environmental categories, then determining the mapping relationship data corresponding to the first environmental category as the target mapping relationship data. Among the multiple preset environmental categories: there is a corresponding relationship between the environmental category and the mapping relationship data, and the first environmental category is any one of the multiple preset environmental categories; determining the vehicle dynamics model to which the target mapping relationship data belongs as the target vehicle dynamics model.

[0081] In this embodiment, the environmental category to which the target environmental condition belongs is the same as one of multiple preset environmental categories. Therefore, the corresponding mapping relationship data can be directly determined from the calibration table as the target mapping relationship data, and the vehicle dynamics model corresponding to this mapping relationship data is the target vehicle dynamics model.

[0082] In some other embodiments, determining the target vehicle dynamics model according to the environmental category to which the target environmental condition belongs includes: if the environmental category to which the target environmental condition belongs is different from each of the multiple preset environmental categories, then use the driving data to determine the target mapping relationship data. Among the multiple preset environmental categories, there is a corresponding relationship between the environmental category and the mapping relationship data; determine the vehicle dynamics model to which the target mapping relationship data belongs as the target vehicle dynamics model.

[0083] In this embodiment, the environmental category to which the target environmental condition belongs is different from each of the multiple preset environmental categories, that is, the target environmental condition is a completely new environmental condition. Therefore, the mapping relationship data can be established based on the driving data of the vehicle to be tested under the target environmental condition as the target mapping relationship data, and the vehicle dynamics model to which the target mapping relationship data belongs is determined as the target vehicle dynamics model.

[0084] In some embodiments, after establishing the mapping relationship data as the target mapping relationship data according to the driving data of the vehicle to be tested under the target environmental condition, the corresponding relationship between the environmental category to which the target environmental condition belongs and the mapping relationship data of the target vehicle dynamics model can be stored, that is, add a corresponding relationship data between the environmental category and the mapping relationship data to the calibration table set.

[0085] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0086] Corresponding to the simulation test method in the above embodiments, Figure 3 The structural block diagram of a simulation test device provided by an embodiment of the present application is shown. For ease of description, only the parts related to the embodiments of the present application are shown.

[0087] Refer to Figure 3 , the simulation test device 300 includes: an acquisition unit 310, a determination unit 320, and a simulation test unit 330, where:

[0088] An acquisition unit 310 for acquiring driving data of a vehicle to be tested under target environmental conditions in the real world, where the target environmental conditions include at least one of road surface conditions, wind speed range, wind direction, and temperature range;

[0089] A determination unit 320 for determining a target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data, where the target vehicle dynamics model is: among multiple vehicle dynamics models of the vehicle to be tested, the vehicle dynamics model corresponding to the target environmental conditions;

[0090] A simulation test unit 330 for performing a simulation test in a virtual simulation scenario by using the target vehicle dynamics model.

[0091] In one embodiment, the determination unit 320 for determining a target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data includes: using the driving data to determine the environmental category to which the target environmental conditions belong; and determining the target vehicle dynamics model according to the environmental category to which the target environmental conditions belong.

[0092] In one embodiment, the driving data includes the acceleration and jerk of the vehicle to be tested at multiple different times; the determination unit 320 for using the driving data to determine the environmental category to which the target environmental conditions belong includes: determining the acceleration-time curve and jerk-time curve of the vehicle to be tested according to the acceleration and jerk of the vehicle to be tested at multiple different times; and determining the environmental category to which the target environmental conditions belong by using the acceleration-time curve and jerk-time curve.

[0093] In one embodiment, each vehicle dynamics model includes mapping relationship data, and the mapping relationship data included in different vehicle dynamics models is different. The mapping relationship data includes: the mapping relationship between the control variables of each vehicle dynamics model and the theoretical state variables of each vehicle dynamics model under the environmental conditions corresponding to each vehicle dynamics model; the control variables include the input control parameters of each vehicle dynamics model, and the theoretical state variables include the theoretical vehicle state parameters output by each vehicle dynamics model corresponding to the input control parameters.

[0094] In one embodiment, the mapping relationship data includes a first mapping relationship and a second mapping relationship. The first mapping relationship includes the mapping relationship between speed and throttle and brake opening degrees, and the second mapping relationship includes the mapping relationship between vehicle yaw angular velocity and steering wheel steering angle.

[0095] In one embodiment, a determination unit 320 is configured to determine a target vehicle dynamics model according to the environmental category to which the target environmental condition belongs, including: if the environmental category to which the target environmental condition belongs is the same as a first environmental category among a plurality of preset environmental categories, determining the mapping relationship data corresponding to the first environmental category as the target mapping relationship data. Among the plurality of preset environmental categories, there is a corresponding relationship between the environmental category and the mapping relationship data, and the first environmental category is any one of the plurality of preset environmental categories; determining the vehicle dynamics model to which the target mapping relationship data belongs as the target vehicle dynamics model.

[0096] In one embodiment, a determination unit 320 is configured to determine a target vehicle dynamics model according to the environmental category to which the target environmental condition belongs, including: if the environmental category to which the target environmental condition belongs is not the same as each of the plurality of preset environmental categories, using the driving data to determine the target mapping relationship data. Among the plurality of preset environmental categories, there is a corresponding relationship between the environmental category and the mapping relationship data; determining the vehicle dynamics model to which the target mapping relationship data belongs as the target vehicle dynamics model.

[0097] In one embodiment, the driving data includes: the speed, throttle and brake opening, vehicle yaw rate, and steering wheel steering angle of the vehicle to be tested at multiple different times; the target mapping relationship data includes: a first mapping relationship and a second mapping relationship. In the first mapping relationship, the speed at the same time corresponds to the throttle and brake opening; in the second mapping relationship, the vehicle yaw rate at the same time corresponds to the steering wheel steering angle.

[0098] In one embodiment, the simulation test device 300 further includes: a storage unit configured to store the corresponding relationship between the environmental category to which the target environmental condition belongs and the mapping relationship data of the target vehicle dynamics model.

[0099] Figure 4 The following is a schematic structural diagram of an electronic device 4 provided in an embodiment of the present application, as Figure 4 shown. The electronic device 4 in this embodiment includes: at least one processor 400 ( Figure 4 only one processor is shown in the figure), a memory 401, and a computer program 402 stored in the memory 401 and executable on the at least one processor 400. When the processor 400 executes the computer program 402, the steps in any of the above-mentioned simulation test method embodiments are implemented.

[0100] The electronic device may include, but is not limited to, a processor 400 and a memory 401. Those skilled in the art can understand, Figure 4The above is only an example of the electronic device 4, which does not constitute a limitation on the electronic device 4. It may include more or fewer components than those shown in the figure, or combine certain components, or have different components. For example, it may also include input / output devices, network access devices, etc.

[0101] The so-called processor 400 may be a central processing unit (CPU), and the processor 400 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0102] In some embodiments, the memory 401 may be an internal storage unit, such as a hard disk or memory. In other embodiments, the memory 401 may also be an external storage device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 401 may also include both an internal storage unit and an external storage device. The memory 401 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program, etc. The memory 401 may also be used to temporarily store data that has been output or will be output.

[0103] Those skilled in the art can understand that Figure 4 the structure shown in is only a block diagram of some structures related to the solution of this application, which does not constitute a limitation on the electronic device 4 of the solution of this application. The electronic device 4 may include more or fewer components than those shown in the figure, or combine certain components, or have a different component layout.

[0104] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In practical applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0105] In one embodiment, an electronic device is provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented: obtaining driving data of a vehicle to be tested under target environmental conditions in the real world, where the target environmental conditions include at least one of road surface conditions, wind speed range, wind direction, and temperature range; determining a target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data, where the target vehicle dynamics model is: among multiple vehicle dynamics models of the vehicle to be tested, the vehicle dynamics model corresponding to the target environmental conditions; using the target vehicle dynamics model to perform a simulation test in a virtual simulation scenario.

[0106] In one embodiment, when the processor executes the computer program, the following steps are further implemented: using the driving data to determine the environmental category to which the target environmental conditions belong; determining the target vehicle dynamics model according to the environmental category to which the target environmental conditions belong.

[0107] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining an acceleration-time curve and a jerk-time curve of the vehicle to be tested according to the acceleration and jerk of the vehicle to be tested at multiple different times; using the acceleration-time curve and the jerk-time curve to determine the environmental category to which the target environmental conditions belong

[0108] In one embodiment, each vehicle dynamics model includes mapping relationship data, and the mapping relationship data included in different vehicle dynamics models is different. The mapping relationship data includes: the mapping relationship between the control variables of each vehicle dynamics model and the theoretical state variables of each vehicle dynamics model under the environmental conditions corresponding to each vehicle dynamics model; the control variables include: the input control parameters of each vehicle dynamics model, and the theoretical state variables include: the theoretical vehicle state parameters output by each vehicle dynamics model corresponding to the input control parameters.

[0109] In one embodiment, the mapping relationship data includes a first mapping relationship and a second mapping relationship. The first mapping relationship includes the mapping relationship between speed and the throttle and brake opening degrees, and the second mapping relationship includes the mapping relationship between the vehicle yaw angular velocity and the steering wheel steering angle.

[0110] In one embodiment, when the processor executes the computer program, the following steps are further implemented: if the environmental category to which the target environmental condition belongs is the same as the first environmental category among multiple preset environmental categories, then the mapping relationship data corresponding to the first environmental category is determined as the target mapping relationship data. Among the multiple preset environmental categories: there is a corresponding relationship between the environmental category and the mapping relationship data, and the first environmental category is any one of the multiple preset environmental categories; the vehicle dynamics model to which the target mapping relationship data belongs is determined as the target vehicle dynamics model.

[0111] In one embodiment, when the processor executes the computer program, the following steps are further implemented: if the environmental category to which the target environmental condition belongs is not the same as each of the multiple preset environmental categories, then the target mapping relationship data is determined using the driving data. Among the multiple preset environmental categories: there is a corresponding relationship between the environmental category and the mapping relationship data; the vehicle dynamics model to which the target mapping relationship data belongs is determined as the target vehicle dynamics model.

[0112] In one embodiment, the driving data includes: the speed, throttle and brake opening degrees, vehicle yaw angular velocity, and steering wheel steering angle of the vehicle to be tested at multiple different times; the target mapping relationship data includes: the first mapping relationship and the second mapping relationship. In the first mapping relationship: the speed at the same time corresponds to the throttle and brake opening degrees; in the second mapping relationship: the vehicle yaw angular velocity at the same time corresponds to the steering wheel steering angle.

[0113] In one embodiment, when the processor executes the computer program, the following steps are further implemented: storing the corresponding relationship between the environmental category to which the target environmental condition belongs and the mapping relationship data of the target vehicle dynamics model.

[0114] In this embodiment, the steps implemented when the computer program is executed by the processor have the same implementation principle and technical effects as those of the above-mentioned target detection method of the lidar, and will not be elaborated here.

[0115] An embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the above-mentioned various method embodiments can be implemented.

[0116] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented: obtaining driving data of a vehicle to be tested under target environmental conditions in the real world, where the target environmental conditions include at least one of road surface conditions, wind speed range, wind direction, and temperature range; determining a target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data, where the target vehicle dynamics model is: among multiple vehicle dynamics models of the vehicle to be tested, the vehicle dynamics model corresponding to the target environmental conditions; using the target vehicle dynamics model to perform a simulation test in a virtual simulation scenario.

[0117] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the environmental category to which the target environmental conditions belong by using the driving data; determining the target vehicle dynamics model according to the environmental category to which the target environmental conditions belong.

[0118] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining an acceleration-time curve and a jerk-time curve of the vehicle to be tested according to the acceleration and jerk of the vehicle to be tested at multiple different times; determining the environmental category to which the target environmental conditions belong by using the acceleration-time curve and the jerk-time curve.

[0119] In one embodiment, each vehicle dynamics model includes mapping relationship data, and the mapping relationship data included in different vehicle dynamics models is different. The mapping relationship data includes: the mapping relationship between the control variables of each vehicle dynamics model and the theoretical state variables of each vehicle dynamics model under the environmental conditions corresponding to each vehicle dynamics model; the control variables include: the input control parameters of each vehicle dynamics model, and the theoretical state variables include: the theoretical vehicle state parameters output by each vehicle dynamics model corresponding to the input control parameters.

[0120] In one embodiment, the mapping relationship data includes a first mapping relationship and a second mapping relationship. The first mapping relationship includes the mapping relationship between speed and throttle and brake opening degrees, and the second mapping relationship includes the mapping relationship between vehicle yaw rate and steering wheel steering angle.

[0121] In one embodiment, when the processor executes the computer program, the following steps are further implemented: If the environmental category to which the target environmental condition belongs is the same as the first environmental category among multiple preset environmental categories, then the mapping relationship data corresponding to the first environmental category is determined as the target mapping relationship data. Among the multiple preset environmental categories, there is a corresponding relationship between the environmental category and the mapping relationship data, and the first environmental category is any one of the multiple preset environmental categories; the vehicle dynamics model to which the target mapping relationship data belongs is determined as the target vehicle dynamics model.

[0122] In one embodiment, when the processor executes the computer program, the following steps are further implemented: If the environmental category to which the target environmental condition belongs is not the same as each of the multiple preset environmental categories, then the target mapping relationship data is determined by using the driving data. Among the multiple preset environmental categories, there is a corresponding relationship between the environmental category and the mapping relationship data; the vehicle dynamics model to which the target mapping relationship data belongs is determined as the target vehicle dynamics model.

[0123] In one embodiment, the driving data includes: the speed, throttle and brake opening degrees, vehicle yaw rate, and steering wheel steering angle of the vehicle to be measured at multiple different times; the target mapping relationship data includes: a first mapping relationship and a second mapping relationship. In the first mapping relationship, the speed at the same time corresponds to the throttle and brake opening degrees; in the second mapping relationship, the vehicle yaw rate at the same time corresponds to the steering wheel steering angle.

[0124] In one embodiment, when the processor executes the computer program, the following steps are further implemented: Store the corresponding relationship between the environmental category to which the target environmental condition belongs and the mapping relationship data of the target vehicle dynamics model.

[0125] The implementation principles and technical effects of the steps implemented when the computer program in this embodiment is executed by the processor are similar to the principles of the above-mentioned target detection method of the lidar, and will not be elaborated here.

[0126] The embodiments of the present application provide a computer program product. When the computer program product runs on a roadside device or an in-vehicle terminal, the roadside device or the in-vehicle terminal can implement the steps in the above-mentioned various method embodiments when executed.

[0127] In one embodiment, a computer program product is provided, including a computer program which, when executed by a processor, implements the following steps: obtaining driving data of a vehicle to be tested under target environmental conditions in the real world, where the target environmental conditions include at least one of road surface conditions, wind speed range, wind direction, and temperature range; determining a target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data, where the target vehicle dynamics model is: among multiple vehicle dynamics models of the vehicle to be tested, the vehicle dynamics model corresponding to the target environmental conditions; and performing a simulation test in a virtual simulation scenario using the target vehicle dynamics model.

[0128] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining the environmental category to which the target environmental conditions belong using the driving data; and determining the target vehicle dynamics model according to the environmental category to which the target environmental conditions belong.

[0129] In one embodiment, when the processor executes the computer program, the following steps are further implemented: determining an acceleration-time curve and a jerk-time curve of the vehicle to be tested according to the acceleration and jerk of the vehicle to be tested at multiple different times; and determining the environmental category to which the target environmental conditions belong using the acceleration-time curve and the jerk-time curve.

[0130] In one embodiment, each vehicle dynamics model includes mapping relation data, and the mapping relation data included in different vehicle dynamics models is different. The mapping relation data includes: the mapping relation between the control variables of each vehicle dynamics model and the theoretical state variables of each vehicle dynamics model under the environmental conditions corresponding to each vehicle dynamics model; the control variables include: the input control parameters of each vehicle dynamics model, and the theoretical state variables include: the theoretical vehicle state parameters output by each vehicle dynamics model corresponding to the input control parameters.

[0131] In one embodiment, the mapping relation data includes a first mapping relation and a second mapping relation. The first mapping relation includes the mapping relation between speed and throttle and brake opening degrees, and the second mapping relation includes the mapping relation between vehicle yaw rate and steering wheel steering angle.

[0132] In one embodiment, when the processor executes the computer program, the following steps are further implemented: if the environmental category to which the target environmental conditions belong is the same as a first environmental category among multiple preset environmental categories, then determining the mapping relation data corresponding to the first environmental category as the target mapping relation data. Among the multiple preset environmental categories: there is a corresponding relationship between the environmental category and the mapping relation data, and the first environmental category is any one of the multiple preset environmental categories; and determining the vehicle dynamics model to which the target mapping relation data belongs as the target vehicle dynamics model.

[0133] In one embodiment, when the processor executes the computer program, the following steps are further implemented: If the environmental category to which the target environmental condition belongs is different from each of the multiple preset environmental categories, the target mapping relationship data is determined using the driving data. Among the multiple preset environmental categories, there is a corresponding relationship between the environmental category and the mapping relationship data. The vehicle dynamics model to which the target mapping relationship data belongs is determined as the target vehicle dynamics model.

[0134] In one embodiment, the driving data includes: the speed, throttle and brake opening, vehicle yaw rate, and steering wheel angle of the vehicle to be measured at multiple different times. The target mapping relationship data includes: a first mapping relationship and a second mapping relationship. In the first mapping relationship, the speed at the same time corresponds to the throttle and brake opening. In the second mapping relationship, the vehicle yaw rate at the same time corresponds to the steering wheel angle.

[0135] In one embodiment, when the processor executes the computer program, the following steps are further implemented: Store the corresponding relationship between the environmental category to which the target environmental condition belongs and the mapping relationship data of the target vehicle dynamics model.

[0136] The implementation principles and technical effects of the steps implemented when the computer program in this embodiment is executed by the processor are similar to the principles of target detection of the above lidar, and will not be elaborated here.

[0137] This application embodiment also provides a chip, including: a processor, configured to call and run a computer program from a memory, so that an electronic device installed with the chip executes the steps in the above various method embodiments.

[0138] In the above embodiments, the descriptions of the various embodiments have their own focuses. For parts not detailed or recorded in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0139] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0140] In the embodiments provided in the present application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the apparatus or unit can be in electrical, mechanical or other forms.

[0141] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0142] In addition, each functional unit in the various embodiments of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0143] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, to implement all or part of the processes in the above-mentioned method embodiments of the present application, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-mentioned various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable storage medium can include: any entity or device that can carry the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0144] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A simulation test method, characterized in that, The method includes: Obtaining driving data of a vehicle to be tested under target environmental conditions in the real world, where the target environmental conditions include at least one of road surface conditions, wind speed range, wind direction, and temperature range; Determining a target vehicle dynamics model corresponding to the vehicle to be tested according to the driving data, where the target vehicle dynamics model is: among multiple vehicle dynamics models of the vehicle to be tested, the vehicle dynamics model corresponding to the target environmental conditions; Performing a simulation test in a virtual simulation scenario by using the target vehicle dynamics model.

2. The method according to claim 1, wherein The determining, according to the driving data, a target vehicle dynamics model corresponding to the vehicle to be tested includes: Determining an environmental category to which the target environmental conditions belong by using the driving data; Determining the target vehicle dynamics model according to the environmental category to which the target environmental conditions belong.

3. The method according to claim 2, wherein The driving data includes: the acceleration and jerk of the vehicle to be tested at multiple different times; The determining, by using the driving data, an environmental category to which the target environmental conditions belong includes: Determining an acceleration-time curve and a jerk-time curve of the vehicle to be tested according to the acceleration and jerk of the vehicle to be tested at multiple different times; Determining an environmental category to which the target environmental conditions belong by using the acceleration-time curve and the jerk-time curve.

4. The method according to claim 2 or 3, characterized in that Each vehicle dynamics model includes mapping relation data, and the mapping relation data included in different vehicle dynamics models are different. The mapping relation data includes: the mapping relation between the control variables of each vehicle dynamics model and the theoretical state variables of each vehicle dynamics model under the environmental conditions corresponding to each vehicle dynamics model; the control variables include: the input control parameters of each vehicle dynamics model, and the theoretical state variables include: the theoretical vehicle state parameters output by each vehicle dynamics model corresponding to the input control parameters.

5. The method according to claim 4, wherein The mapping relation data includes a first mapping relation and a second mapping relation. The first mapping relation includes the mapping relation between speed and throttle and brake opening degrees, and the second mapping relation includes the mapping relation between vehicle yaw angular velocity and steering wheel steering angle.

6. The method according to claim 4, wherein The determining, according to the environmental category to which the target environmental conditions belong, a target vehicle dynamics model includes: If the environmental category to which the target environmental conditions belong is the same as a first environmental category among multiple preset environmental categories, then determining the mapping relation data corresponding to the first environmental category as target mapping relation data. Among the multiple preset environmental categories: there is a corresponding relation between the environmental category and the mapping relation data, and the first environmental category is any one of the multiple preset environmental categories; Determining the vehicle dynamics model to which the target mapping relation data belongs as the target vehicle dynamics model.

7. The method according to claim 4, wherein The determining, according to the environmental category to which the target environmental conditions belong, a target vehicle dynamics model includes: If the environmental category to which the target environmental condition belongs is different from each of the multiple preset environmental categories, use the driving data to determine the target mapping relationship data. Among the multiple preset environmental categories, there is a corresponding relationship between the environmental category and the mapping relationship data. Determine the vehicle dynamics model to which the target mapping relationship data belongs as the target vehicle dynamics model.

8. The method according to claim 7, wherein The driving data includes: the speed, throttle and brake opening, vehicle yaw rate, and steering wheel angle of the vehicle to be tested at multiple different times. The target mapping relationship data includes: a first mapping relationship and a second mapping relationship. In the first mapping relationship, the speed at the same time corresponds to the throttle and brake opening. In the second mapping relationship, the vehicle yaw rate at the same time corresponds to the steering wheel angle.

9. The method according to any one of claims 6 to 8, characterized in that The method further includes: Store the corresponding relationship between the environmental category to which the target environmental condition belongs and the mapping relationship data of the target vehicle dynamics model.

10. A simulation test device, characterized in that, The device includes units for performing each step of the method according to any one of claims 1 to 9.

11. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, the method according to any one of claims 1 to 9 is implemented.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1 to 9 is implemented.

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