Automatic driving vehicle simulation test method, device and equipment and readable storage medium

Abstract

The invention discloses an automatic driving vehicle simulation test method, an automatic driving vehicle simulation test device, automatic driving vehicle simulation test equipment and a readable storage medium. When it is detected that the absolute value of the difference between the remaining duration of the autonomous vehicle arriving at the preset collision point and the remaining duration of the vulnerable traffic participant arriving at the preset collision point is smaller than a preset error duration, the vulnerable traffic participant is controlled to decelerate and stop; if it is detected that the autonomous vehicle slows down and stops, the subsequent state of the autonomous vehicle is monitored; if it is monitored that the automatic driving vehicle is started, the vulnerable traffic participants are controlled to be also started; and if it is monitored that the autonomous vehicle is kept stopped, controlling the vulnerable traffic participants to also keep stopped. According to the method and the device, the game psychology and behavior actions of the vulnerable traffic participants are really simulated in a simulation scene, so that the performance of the automatic driving vehicle and the vulnerable traffic participants under the game can be more accurately evaluated.

Description

Technical Field

[0001] The present application relates to the field of vehicle simulation testing technology, and in particular to a method, device, equipment and readable storage medium for simulation testing of an autonomous driving vehicle. Background Art

[0002] In current simulation tests of autonomous driving, vulnerable traffic participants are usually set to travel at a constant speed. Vulnerable traffic participants include pedestrians, bicycles, and electric vehicles. However, this does not match the situation in real scenarios. In real scenarios, there is a game between vulnerable traffic participants and vehicles, and the game between the two parties may lead to traffic accidents. Therefore, the current simulation tests of the game scenario between autonomous driving vehicles and vulnerable traffic participants are inaccurate. Summary of the Invention

[0003] The present application provides a method, apparatus, device and readable storage medium for simulation testing of an autonomous driving vehicle, aiming to solve the current technical problem of inaccurate simulation testing in scenarios where autonomous driving vehicles compete with vulnerable traffic participants.

[0004] In a first aspect, an embodiment of the present application provides a method for simulating and testing an autonomous driving vehicle, the method comprising: In the simulation scenario, when it is detected that the absolute value of the difference between the remaining time for the autonomous vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than the preset error time, the vulnerable traffic participant is controlled to slow down and stop; If the autonomous vehicle is detected to have decelerated and stopped, the subsequent state of the autonomous vehicle is monitored; If the autonomous vehicle is detected to be activated, the vulnerable traffic participants will also be controlled to activate; If the autonomous vehicle is detected to remain stopped, vulnerable traffic participants are also controlled to remain stopped.

[0005] Optionally, in the simulation scenario, when it is detected that the absolute value of the difference between the remaining time for the autonomous driving vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than a preset error time, controlling the vulnerable traffic participant to decelerate and stop includes: In a simulation scenario, the autonomous driving vehicle is set to travel toward a preset collision point at a preset initial speed. When it is detected that the remaining time for the autonomous driving vehicle to travel at a constant speed at the preset initial speed to the preset collision point is a preset time, the vulnerable traffic participant is controlled to move from the initial position to the preset collision point. The preset time is the time it takes for the vulnerable traffic participant to travel from the initial position to the preset collision point. When the vulnerable traffic participant reaches the preset judgment position, the first remaining time for the autonomous vehicle to reach the preset collision point at a constant speed at the preset initial speed and the second remaining time for the vulnerable traffic participant to reach the preset collision point are calculated; If the absolute value of the difference between the first remaining time and the second remaining time is less than the preset error time, the vulnerable traffic participant is controlled to decelerate and stop at a preset pause position.

[0006] Optionally, the process of the vulnerable traffic participant traveling from the initial position to the preset collision point includes acceleration, uniform speed and deceleration travel stages, and the preset judgment position is located in the uniform speed travel stage of the vulnerable traffic participant.

[0007] Optionally, controlling the vulnerable traffic participant to move from an initial position toward a preset collision point includes: The vulnerable traffic participant is controlled to climb over the railing from an initial position on the outside of the railing and move toward a preset collision point. The preset duration includes the duration of climbing over the railing. The outside of the railing is the outside of the railing relative to the autonomous driving vehicle.

[0008] Optionally, the preset judgment position is a railing position.

[0009] Optionally, the autonomous driving vehicle simulation test method further includes: The distance between the autonomous driving vehicle and vulnerable traffic participants during the simulation test and whether the vulnerable traffic participants are collided with are recorded for the evaluation of the simulation test results of the autonomous driving vehicle.

[0010] Optionally, after controlling the vulnerable traffic participant to decelerate and stop when it is detected that the absolute value of the difference between the remaining time for the autonomous driving vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than a preset error time, the method includes: If it is detected that the autonomous vehicle has not slowed down and stopped, the vulnerable traffic participant will be controlled to start and continue moving towards the preset collision point.

[0011] In a second aspect, an embodiment of the present application provides an autonomous driving vehicle simulation test device, the autonomous driving vehicle simulation test device comprising: A deceleration and stop module is used to control the vulnerable traffic participant to decelerate and stop in a simulation scenario when it is detected that the absolute value of the difference between the remaining time for the autonomous vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than a preset error time; a state monitoring module for monitoring the subsequent state of the autonomous vehicle if it is detected that the autonomous vehicle has decelerated and stopped; A start module is used to control vulnerable traffic participants to start if the self-driving vehicle is detected to start; The stop-hold module is used to control vulnerable traffic participants to remain stopped if it is detected that the autonomous driving vehicle remains stopped.

[0012] In a third aspect, an embodiment of the present application provides an autonomous driving vehicle simulation test device, which includes a processor, a memory, and an autonomous driving vehicle simulation test program stored on the memory and executable by the processor, wherein when the autonomous driving vehicle simulation test program is executed by the processor, the steps of the autonomous driving vehicle simulation test method described above are implemented.

[0013] In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which an autonomous driving vehicle simulation test program is stored, wherein when the autonomous driving vehicle simulation test program is executed by a processor, the steps of the autonomous driving vehicle simulation test method as described above are implemented.

[0014] The beneficial effects of the technical solutions provided in the embodiments of the present application include: In an embodiment of the present application, in a simulation scenario, when it is detected that the absolute value of the difference between the remaining time for the autonomous driving vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than a preset error time, the vulnerable traffic participant is controlled to slow down and stop; if the autonomous driving vehicle is detected to slow down and stop, the subsequent state of the autonomous driving vehicle is monitored; if the autonomous driving vehicle is detected to start, the vulnerable traffic participant is controlled to start as well; if the autonomous driving vehicle is detected to remain stopped, the vulnerable traffic participant is controlled to remain stopped as well. In an embodiment of the present application, in a simulation scenario, an autonomous driving vehicle is equipped with an autonomous driving or assisted driving system, and the autonomous driving or assisted driving system algorithm controls the autonomous driving vehicle independently. The performance of the autonomous driving vehicle in a game scenario with a vulnerable traffic participant is observed and evaluated through simulation testing. When the simulation system detects that a vulnerable traffic participant is about to collide with the autonomous driving vehicle, the vulnerable traffic participant is controlled to slow down and stop. If the autonomous driving vehicle is detected to have slowed down and stopped, the subsequent behavior state of the autonomous driving vehicle is monitored, and the vulnerable traffic participant is controlled to perform corresponding behavior based on the subsequent behavior state of the autonomous driving vehicle, thereby realistically simulating the game psychology and behavioral actions of the vulnerable traffic participant. Compared with the current autonomous driving simulation test that simply sets the vulnerable traffic participant to move at a constant speed, the present application realistically simulates the psychology and behavioral actions of the vulnerable traffic participant, thereby being able to make a more accurate evaluation of the performance of the autonomous driving vehicle in the game with the vulnerable traffic participant. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a flow chart of an embodiment of the autonomous driving vehicle simulation test method of the present application; Figure 2 For this application Figure 1 Detailed flow chart of step S10; Figure 3 This is a schematic diagram of a simulation scenario of an embodiment of the autonomous driving vehicle simulation test method of the present application; Figure 4 This is a schematic diagram of the functional modules of an embodiment of the autonomous driving vehicle simulation test device of the present application; Figure 5 This is a schematic diagram of the hardware structure of the autonomous driving vehicle simulation test equipment involved in the embodiment of the present application. DETAILED DESCRIPTION

[0016] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0017] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0018] In a first aspect, an embodiment of the present application provides a method for simulation testing of an autonomous driving vehicle.

[0019] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of an embodiment of the autonomous driving vehicle simulation test method of the present application. Figure 1 As shown in FIG, the autonomous driving vehicle simulation test method includes: Step S10, in the simulation scenario, when it is detected that the absolute value of the difference between the remaining time for the autonomous driving vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than the preset error time, the vulnerable traffic participant is controlled to slow down and stop.

[0020] In this embodiment, a simulation test is conducted on an autonomous vehicle equipped with an autonomous or assisted driving system in a simulation scenario. Specifically, the simulation test observes the autonomous vehicle's performance in a game-play scenario with vulnerable traffic participants. The autonomous vehicle is controlled by its autonomous or assisted driving system algorithm, and the simulation system does not intervene in the autonomous vehicle. Instead, the simulation system controls vulnerable traffic participants based on the detected state and behavior of the autonomous vehicle. By realistically simulating the psychological and behavioral actions of vulnerable traffic participants in the game-play scenario, the simulation system more accurately evaluates the behavioral performance of the autonomous vehicle and vulnerable traffic participants in the game-play scenario. Specifically, when the simulation system detects that the absolute value of the difference between the autonomous vehicle's remaining time to reach a predetermined collision point and the vulnerable traffic participant's remaining time to reach the predetermined collision point is less than a predetermined error time, i.e., when the simulation system determines that a collision is imminent based on the remaining time to reach the predetermined collision point for the autonomous vehicle and vulnerable traffic participant, the vulnerable traffic participant is controlled to slow down and stop. Examples of vulnerable traffic participants include pedestrians, bicycles, and electric vehicles.

[0021] Step S20: If it is detected that the autonomous driving vehicle decelerates and stops, the subsequent state of the autonomous driving vehicle is monitored.

[0022] In this embodiment, after the simulation system detects the possibility of a collision in step S10, it has controlled the vulnerable traffic participant to slow down and stop. At this time, the behavioral state of the autonomous driving vehicle is observed. If it is detected that the autonomous driving vehicle slows down and stops, the subsequent state of the autonomous driving vehicle is monitored to control the vulnerable traffic participant to perform corresponding behavior according to the behavioral state of the autonomous driving vehicle. Starting from the role of the vulnerable traffic participant, the scenario of the traffic game between the vulnerable traffic participant and the autonomous driving vehicle is simulated.

[0023] Step S30: If it is detected that the autonomous driving vehicle is started, the vulnerable traffic participants are also controlled to start.

[0024] In this embodiment, taking pedestrians as an example of vulnerable traffic participants, it is understandable that in real traffic game scenarios, it often happens that when pedestrians see a vehicle start, they will also start. Therefore, if the autonomous driving vehicle is detected to start, the vulnerable traffic participants are controlled to start as well. Compared with the current autonomous driving simulation test that simply sets the vulnerable traffic participants to uniform motion, this application can make a more accurate evaluation of the performance of autonomous driving vehicles in the game with vulnerable traffic participants by realistically simulating the psychology and behavioral actions of vulnerable traffic participants.

[0025] Step S40: If it is monitored that the autonomous driving vehicle remains stopped, the vulnerable traffic participant is controlled to remain stopped as well.

[0026] In this embodiment, it is also understood that in real traffic game scenarios, when pedestrians see a vehicle remain stationary, they will also remain stationary. Therefore, if the autonomous vehicle is detected to remain stationary, the vulnerable traffic participant is controlled to remain stationary as well. Compared to current autonomous driving simulation tests that simply set the vulnerable traffic participant to move at a constant speed, this application realistically simulates the psychology and behavior of the vulnerable traffic participant, thereby enabling a more accurate evaluation of the performance of the autonomous vehicle in the game between the vulnerable traffic participant and the autonomous vehicle. It should be noted that after the autonomous vehicle is detected to remain stationary for a period exceeding a certain period, the vulnerable traffic participant can be controlled to start and continue to move toward the preset collision point to observe the subsequent behavior of the autonomous vehicle.

[0027] In this embodiment, a simulation test is conducted on an autonomous vehicle equipped with an autonomous or assisted driving system in a simulation scenario. Specifically, the simulation test observes the autonomous vehicle's performance in a game-playing scenario with a vulnerable traffic participant. The autonomous vehicle is controlled by its autonomous or assisted driving system algorithm, and the simulation system does not intervene in the autonomous vehicle. Instead, the simulation system controls the vulnerable traffic participant based on the detected state and behavior of the autonomous vehicle. The simulation system realistically simulates the psychological and behavioral actions of vulnerable traffic participants in the game-playing scenario to more accurately evaluate the autonomous vehicle's performance. When the simulation system determines that a collision is imminent by detecting the remaining time until the autonomous vehicle and vulnerable traffic participant reach a predetermined collision point, the vulnerable traffic participant is controlled to slow down and stop. The autonomous vehicle's behavior is observed. If the autonomous vehicle is detected to have slowed down and stopped, the subsequent state of the autonomous vehicle is monitored to control the vulnerable traffic participant to perform corresponding actions based on the autonomous vehicle's behavior. This simulates a traffic game-playing scenario between the vulnerable traffic participant and the autonomous vehicle, assuming the vulnerable traffic participant's role. Taking pedestrians as an example of vulnerable traffic participants, it is understandable that in real traffic game scenarios, it often happens that when pedestrians and vehicles perceive the risk of collision, they will stop at the same time, and when pedestrians or vehicles see that the other party is stationary, they will start at the same time. Therefore, in order to truly simulate this traffic game scenario, if the autonomous driving vehicle is detected to start, the vulnerable traffic participant is controlled to start as well. If the autonomous driving vehicle is detected to remain stopped, the vulnerable traffic participant is controlled to remain stopped as well. Compared with the current autonomous driving simulation test that simply sets the vulnerable traffic participant to uniform motion, this application can make a more accurate evaluation of the performance of autonomous driving vehicles and vulnerable traffic participants in the game by truly simulating the psychology and behavioral actions of vulnerable traffic participants.

[0028] Furthermore, in one embodiment, referring to Figure 2 , Figure 2 For this application Figure 1 The detailed flow chart of step S10 is as follows: Figure 2 As shown, step S10 includes: Step S101: In a simulation scenario, the autonomous driving vehicle is set to travel toward a preset collision point at a preset initial speed. When it is detected that the remaining time for the autonomous driving vehicle to travel at a constant speed at the preset initial speed to the preset collision point is a preset time, the vulnerable traffic participant is controlled to travel from an initial position toward the preset collision point, where the preset time is the time it takes for the vulnerable traffic participant to travel from the initial position to the preset collision point. Step S102: When the vulnerable traffic participant reaches a preset judgment position, a first remaining time for the autonomous vehicle to reach a preset collision point at a preset initial speed and a second remaining time for the vulnerable traffic participant to reach the preset collision point are calculated. Step S103 : If the absolute value of the difference between the first remaining time and the second remaining time is less than the preset error time, the vulnerable traffic participant is controlled to decelerate and stop at a preset pause position.

[0029] In this embodiment, refer to Figure 3 , Figure 3 This is a simulation scenario diagram of an embodiment of the autonomous driving vehicle simulation test method of this application, as shown in FIG. Figure 3 As shown, in a simulation scenario, the simulation scenario is a traffic intersection with a zebra crossing, and an autonomous driving vehicle is set to travel to a preset collision point at a preset initial speed, wherein the preset initial speed can be specifically set according to the test requirements of the autonomous driving vehicle. After the simulation system sets a preset initial speed for the autonomous driving vehicle, no control intervention is performed on the autonomous driving vehicle during subsequent simulation tests. The autonomous driving vehicle is controlled by the autonomous driving or assisted driving system algorithm it carries to travel to the preset collision point. When the simulation system detects that the remaining time for the autonomous driving vehicle to travel at a constant speed at the preset initial speed to the preset collision point is the preset time, the vulnerable traffic participant is controlled to move from the initial position to the preset collision point, and the time for the vulnerable traffic participant to travel from the initial position to the preset collision point is the preset time. It can be seen that when the vulnerable traffic participant starts to move from the initial position, both the vulnerable traffic participant and the autonomous driving vehicle reach the preset collision point after the same preset time. When the vulnerable traffic participant reaches the preset judgment position, the first remaining time for the autonomous driving vehicle to reach the preset collision point at a constant speed at the preset initial speed and the second remaining time for the vulnerable traffic participant to reach the preset collision point are calculated. If the absolute value of the difference between the first remaining time and the second remaining time is less than the preset error time, it means that the vulnerable traffic participant and the autonomous driving vehicle are about to collide, and the vulnerable traffic participant is controlled to slow down and stop to the preset pause position.

[0030] Furthermore, in one embodiment, the process of the vulnerable traffic participant moving from the initial position to the preset collision point includes acceleration, constant speed, and deceleration moving stages, and the preset judgment position is located in the uniform speed moving stage of the vulnerable traffic participant.

[0031] In this embodiment, the process of a vulnerable traffic participant traveling from an initial position to a preset collision point includes acceleration, uniform speed, and deceleration stages. As mentioned above, vulnerable traffic participants include, for example, pedestrians, bicycles, and electric vehicles. Here, different accelerations, uniform speeds, and decelerations can be set according to the different vulnerable traffic participants. This is a true simulation of a real-life scenario. When a vulnerable traffic participant travels at a uniform speed to a preset judgment position, it is detected and determined whether a collision is about to occur between the vulnerable traffic participant and the autonomous driving vehicle.

[0032] Furthermore, in one embodiment, controlling the vulnerable traffic participant to move from an initial position toward a preset collision point includes: The vulnerable traffic participant is controlled to climb over the railing from an initial position on the outside of the railing and move toward a preset collision point. The preset duration includes the duration of climbing over the railing. The outside of the railing is the outside of the railing relative to the autonomous driving vehicle.

[0033] In this embodiment, different from Figure 3 A traffic intersection scenario with a zebra crossing simulates a vulnerable traffic participant climbing over a barrier. The vulnerable traffic participant is initially located outside the barrier. It should be noted that when the vulnerable traffic participant is outside the barrier, the autonomous vehicle's system algorithm should not control the vehicle to stop. Only when the vulnerable traffic participant is initially located inside the barrier should the autonomous vehicle's system algorithm control the vehicle to stop if collision conditions are met. If the autonomous vehicle is observed to control the vehicle to stop when the vulnerable traffic participant is initially located outside the barrier, it can be considered that the autonomous vehicle's system algorithm is unqualified. In this scenario where the vulnerable traffic participant climbs over the barrier, both the vulnerable traffic participant and the autonomous vehicle reach the preset collision point after the same preset time, which includes the time it takes for the vulnerable traffic participant to climb over the barrier.

[0034] Furthermore, in one embodiment, the preset judgment position is a railing position.

[0035] In this embodiment, it is usually a more dangerous scenario for a vulnerable traffic participant to climb over the railing. Therefore, the preset judgment position can be set as the railing position, that is, the vulnerable traffic is detected and judged for the collision risk when climbing over the railing. It is easy to understand that another corresponding scenario is that the vulnerable traffic is detected and judged for the collision risk when it moves to the preset judgment position after climbing over the railing.

[0036] Furthermore, in one embodiment, the autonomous driving vehicle simulation test method further includes: The distance between the autonomous driving vehicle and vulnerable traffic participants during the simulation test and whether the vulnerable traffic participants are collided with are recorded for the evaluation of the simulation test results of the autonomous driving vehicle.

[0037] In this embodiment, compared with the current autonomous driving simulation test which simply sets the vulnerable traffic participants to move at a constant speed, this application realistically simulates the psychology and behavioral actions of vulnerable traffic participants, and records the distance between the autonomous driving vehicle and the vulnerable traffic participants and whether the vulnerable traffic participants are collided with during the simulation test, so as to accurately evaluate the performance of the autonomous driving vehicle in the game between the autonomous driving vehicle and the vulnerable traffic participants.

[0038] Furthermore, in one embodiment, after step S10, the following steps are included: If it is detected that the autonomous vehicle has not slowed down and stopped, the vulnerable traffic participant will be controlled to start and continue moving towards the preset collision point.

[0039] In this embodiment, after the simulation system detects a collision risk and controls the vulnerable traffic participant to slow down and stop, if it is detected that the autonomous driving vehicle has not slowed down and stopped, the vulnerable traffic participant is controlled to start and continue to move towards the preset collision point to observe the emergency avoidance capability of the autonomous driving vehicle.

[0040] In a second aspect, an embodiment of the present application also provides an autonomous driving vehicle simulation test device.

[0041] In one embodiment, referring to Figure 4 , Figure 4 This is a functional module diagram of an embodiment of the autonomous driving vehicle simulation test device of the present application, as shown in FIG. Figure 4 As shown, the autonomous driving vehicle simulation test device includes: The deceleration and stopping module 10 is configured to control the vulnerable traffic participant to decelerate and stop in a simulation scenario when it is detected that the absolute value of the difference between the remaining time for the autonomous driving vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than a preset error time. a state monitoring module 20 for monitoring the subsequent state of the autonomous vehicle if it is detected that the autonomous vehicle has decelerated and stopped; The starting module 30 is used to control the vulnerable traffic participants to start if the self-driving vehicle is detected to start; The stop-hold module 40 is configured to control vulnerable traffic participants to also remain stopped if it is detected that the autonomous driving vehicle remains stopped.

[0042] Furthermore, in one embodiment, the deceleration and stopping module 10 is used to: In a simulation scenario, the autonomous driving vehicle is set to travel toward a preset collision point at a preset initial speed. When it is detected that the remaining time for the autonomous driving vehicle to travel at a constant speed at the preset initial speed to the preset collision point is a preset time, the vulnerable traffic participant is controlled to move from the initial position to the preset collision point. The preset time is the time it takes for the vulnerable traffic participant to travel from the initial position to the preset collision point. When the vulnerable traffic participant reaches the preset judgment position, the first remaining time for the autonomous vehicle to reach the preset collision point at a constant speed at the preset initial speed and the second remaining time for the vulnerable traffic participant to reach the preset collision point are calculated; If the absolute value of the difference between the first remaining time and the second remaining time is less than the preset error time, the vulnerable traffic participant is controlled to decelerate and stop at a preset pause position.

[0043] Furthermore, in one embodiment, the process of the vulnerable traffic participant moving from the initial position to the preset collision point includes acceleration, constant speed, and deceleration moving stages, and the preset judgment position is located in the uniform speed moving stage of the vulnerable traffic participant.

[0044] Furthermore, in one embodiment, the autonomous driving vehicle simulation test device further includes a barrier climbing module, which is used to: The vulnerable traffic participant is controlled to climb over the railing from an initial position on the outside of the railing and move toward a preset collision point. The preset duration includes the duration of climbing over the railing. The outside of the railing is the outside of the railing relative to the autonomous driving vehicle.

[0045] Furthermore, in one embodiment, the preset judgment position is a railing position.

[0046] Furthermore, in one embodiment, the autonomous driving vehicle simulation test device further includes a recording and evaluation module for: The distance between the autonomous driving vehicle and vulnerable traffic participants during the simulation test and whether the vulnerable traffic participants are collided with are recorded for the evaluation of the simulation test results of the autonomous driving vehicle.

[0047] Furthermore, in one embodiment, the autonomous driving vehicle simulation test device further includes a continuing moving module, configured to: If it is detected that the autonomous vehicle has not slowed down and stopped, the vulnerable traffic participant will be controlled to start and continue moving towards the preset collision point.

[0048] Among them, the functional implementation of each module in the above-mentioned autonomous driving vehicle simulation test device corresponds to the various steps in the above-mentioned autonomous driving vehicle simulation test method embodiment, and its functions and implementation processes will not be repeated here one by one.

[0049] In a third aspect, an embodiment of the present application provides an autonomous driving vehicle simulation test device.

[0050] Reference Figure 5 , Figure 5 Schematic diagram of the hardware structure of the autonomous driving vehicle simulation test device involved in the embodiment of the present application. In the embodiment of the present application, the autonomous driving vehicle simulation test device may include a processor, a memory, a communication interface, and a communication bus.

[0051] The communication bus may be of any type and is used to interconnect the processor, memory, and communication interface.

[0052] Communication interfaces include input / output (I / O), physical, and logical interfaces, used to interconnect components within the autonomous vehicle simulation test equipment, as well as interfaces used to interconnect the autonomous vehicle simulation test equipment with other devices (such as other computing devices or user devices). Physical interfaces can include Ethernet, fiber optic, and ATM interfaces; user devices can include displays and keyboards.

[0053] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0054] The processor may be a general-purpose processor that can call an autonomous vehicle simulation test program stored in a memory and execute the autonomous vehicle simulation test method provided in the embodiments of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The methods executed when the autonomous vehicle simulation test program is called can be referenced to the various embodiments of the autonomous vehicle simulation test method of the present application and will not be further described here.

[0055] Those skilled in the art will understand that Figure 5 The hardware structure shown in the figure does not constitute a limitation to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0056] In a fourth aspect, an embodiment of the present application also provides a readable storage medium.

[0057] The readable storage medium of the present application stores an autonomous driving vehicle simulation test program, wherein when the autonomous driving vehicle simulation test program is executed by the processor, the steps of the autonomous driving vehicle simulation test method as described above are implemented.

[0058] Among them, the method implemented when the autonomous driving vehicle simulation test program is executed can refer to the various embodiments of the autonomous driving vehicle simulation test method of this application, and will not be repeated here.

[0059] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0060] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit the "first", "second" and "third" to different types.

[0061] In the description of the embodiments of this application, the words "exemplary," "for example," or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary," "for example," or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[0062] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0063] In some processes described in the embodiments of the present application, multiple operations or steps are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed in sequence or in parallel, and these operations or steps may be combined.

[0064] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, or the part that contributes to the existing technology, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above and includes a number of instructions for enabling a terminal device to execute the methods described in each embodiment of this application.

[0065] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A simulation test method for an autonomous driving vehicle, characterized in that: The autonomous driving vehicle simulation test method includes: In the simulation scenario, when it is detected that the absolute value of the difference between the remaining time for the autonomous vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than the preset error time, the vulnerable traffic participant is controlled to slow down and stop; If the autonomous vehicle is detected to have decelerated and stopped, the subsequent state of the autonomous vehicle is monitored; If the autonomous vehicle is detected to be activated, the vulnerable traffic participants will also be controlled to activate; If the autonomous vehicle is detected to remain stopped, vulnerable traffic participants are also controlled to remain stopped.

2. The autonomous driving vehicle simulation test method according to claim 1, wherein: In the simulation scenario, when it is detected that the absolute value of the difference between the remaining time for the autonomous driving vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than a preset error time, controlling the vulnerable traffic participant to decelerate and stop includes: In a simulation scenario, the autonomous driving vehicle is set to travel toward a preset collision point at a preset initial speed. When it is detected that the remaining time for the autonomous driving vehicle to travel at a constant speed at the preset initial speed to the preset collision point is a preset time, the vulnerable traffic participant is controlled to move from the initial position to the preset collision point. The preset time is the time it takes for the vulnerable traffic participant to travel from the initial position to the preset collision point. When the vulnerable traffic participant reaches the preset judgment position, the first remaining time for the autonomous vehicle to reach the preset collision point at a constant speed at the preset initial speed and the second remaining time for the vulnerable traffic participant to reach the preset collision point are calculated; If the absolute value of the difference between the first remaining time and the second remaining time is less than the preset error time, the vulnerable traffic participant is controlled to decelerate and stop at a preset pause position.

3. The autonomous driving vehicle simulation test method according to claim 2, wherein: The process of a vulnerable traffic participant moving from an initial position to a preset collision point includes acceleration, constant speed, and deceleration stages, and the preset judgment position is located in the constant speed stage of the vulnerable traffic participant.

4. The autonomous driving vehicle simulation test method according to claim 2, wherein: The controlling of the vulnerable traffic participant to move from an initial position to a preset collision point includes: The vulnerable traffic participant is controlled to climb over the railing from an initial position on the outside of the railing and move toward a preset collision point. The preset duration includes the duration of climbing over the railing. The outside of the railing is the outside of the railing relative to the autonomous driving vehicle.

5. The autonomous driving vehicle simulation test method according to claim 4, wherein: The preset judgment position is the railing position.

6. The autonomous driving vehicle simulation test method according to claim 1, wherein: The autonomous driving vehicle simulation test method further includes: The distance between the autonomous driving vehicle and vulnerable traffic participants during the simulation test and whether the vulnerable traffic participants are collided with are recorded for the evaluation of the simulation test results of the autonomous driving vehicle.

7. The autonomous driving vehicle simulation test method according to claim 1, wherein: After controlling the vulnerable traffic participant to decelerate and stop when detecting that the absolute value of the difference between the remaining time for the autonomous driving vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than the preset error time, the method includes: If it is detected that the autonomous vehicle has not slowed down and stopped, the vulnerable traffic participant will be controlled to start and continue moving towards the preset collision point.

8. An autonomous driving vehicle simulation test device, characterized in that: The autonomous driving vehicle simulation test device comprises: A deceleration and stop module is used to control the vulnerable traffic participant to decelerate and stop in a simulation scenario when it is detected that the absolute value of the difference between the remaining time for the autonomous vehicle to reach the preset collision point and the remaining time for the vulnerable traffic participant to reach the preset collision point is less than a preset error time; a state monitoring module for monitoring the subsequent state of the autonomous vehicle if it is detected that the autonomous vehicle has decelerated and stopped; A start module is used to control vulnerable traffic participants to start if the self-driving vehicle is detected to start; The stop-hold module is used to control vulnerable traffic participants to remain stopped if it is detected that the autonomous driving vehicle remains stopped.

9. An autonomous driving vehicle simulation test device, characterized in that: The autonomous driving vehicle simulation test device includes a processor, a memory, and an autonomous driving vehicle simulation test program stored on the memory and executable by the processor, wherein when the autonomous driving vehicle simulation test program is executed by the processor, the steps of the autonomous driving vehicle simulation test method as described in any one of claims 1 to 7 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores an autonomous driving vehicle simulation test program, wherein when the autonomous driving vehicle simulation test program is executed by the processor, the steps of the autonomous driving vehicle simulation test method as described in any one of claims 1 to 7 are implemented.

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