Simulation test method, device and equipment for vehicle passing barrier gate machine and storage medium

Abstract

The invention discloses a simulation test method, device and equipment for a vehicle passing barrier gate machine and a storage medium, and the method comprises the steps: determining diversified simulation roads, and setting a barrier gate machine three-dimensional model on the simulation roads; adding nodes to each part of the barrier gate machine three-dimensional model; and controlling a barrier gate lifting rod based on the node, and setting a scene working condition in a simulation test environment so as to carry out a simulation test of passing of the automatic driving vehicle through the barrier gate. The traffic capacity of the automatic driving vehicle in the barrier gate area is systematically evaluated by simulating complex working conditions in a real scene, so that the reliability and safety of a traffic scheme are efficiently verified and optimized in the research and development stage.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving simulation technology, and in particular to a simulation testing method, apparatus, equipment and storage medium for vehicle access gates. Background Technology

[0002] With the rapid development of autonomous driving technology, the ability of vehicles to navigate complex traffic scenarios has become a key focus of research and testing. In particular, scenarios involving autonomous vehicles passing through entrance and exit gates require systematic verification and optimization due to the interaction between the vehicle and traffic facilities, as well as various potential safety risks.

[0003] Currently, most research focuses on enabling autonomous vehicles to control passage through tollbooth entrance and exit barriers using technologies such as sensor fusion, path planning algorithms, and vehicle-to-infrastructure (V2I) communication. The core objective is to enhance the autonomous decision-making and execution capabilities of autonomous vehicles in this scenario. However, there is currently no systematic method for verifying the passage function of autonomous vehicles in entrance and exit areas using simulation technology. There is a lack of virtual verification methods for key aspects such as the vehicle's passage logic in barrier-free areas and its ability to handle extreme scenarios, making it difficult to efficiently assess and optimize the reliability of passage schemes during the research and development phase.

[0004] Therefore, how to verify the passage capability of autonomous vehicles in the gate area through simulation is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The main objective of this invention is to provide a simulation testing method, device, equipment, and storage medium for vehicle access gates. By simulating complex working conditions in real-world scenarios, the invention systematically evaluates the passage capability of autonomous vehicles in the gate area, thereby efficiently verifying and optimizing the reliability and safety of the passage scheme during the research and development phase.

[0006] Firstly, this application provides a simulation testing method for a vehicle access gate, wherein the method includes the following steps: A variety of simulation roads are identified, and three-dimensional models of barrier gates are set on the simulation roads; Add nodes to each part of the 3D model of the barrier gate; The gate's lifting arm is controlled based on the node, and scenario conditions are set in the simulation test environment to conduct simulation tests on the gate for autonomous vehicles.

[0007] In conjunction with the first aspect mentioned above, as an optional implementation method, a data transmission channel is established between the program and the simulation scenario software; Based on the data transmission channel, the system continuously receives real-time data packets of the 3D model node of the barrier gate and vehicle information data packets from the simulation scenario software, and parses the data packets to obtain the 3D model information of the barrier gate and vehicle information. The 3D model information of the barrier gate includes: position and attitude, and the vehicle information includes: position, speed, acceleration and driving direction. Based on the three-dimensional model information of the barrier gate and vehicle information, and combined with the preset lifting and lowering sequence, the timing and speed of the lifting arm are dynamically adjusted to control the lifting and lowering of the barrier gate.

[0008] In conjunction with the first aspect mentioned above, as an optional implementation method, a variety of simulation roads are determined from the road library according to the requirements to meet different testing needs, wherein the simulation roads include typical roads and custom roads; The typical roads include: parking lot entrances / exits - roads with no elevation changes, parking lot entrances / exits - roads with slopes, and toll station entrances / exits; The custom road includes: freely designing and building the road structure according to specific testing needs, including: adjusting the road length, width, slope, curve radius, speed bumps, traffic signs, obstacles and road surface material.

[0009] In conjunction with the first aspect mentioned above, as an optional implementation method, a 3D model of a barrier gate can be selected from the barrier gate model library according to the requirements and placed in the simulation test environment. The three-dimensional model of the barrier gate includes: a straight-arm barrier gate and a customized barrier gate model.

[0010] In conjunction with the first aspect mentioned above, as an optional implementation method, based on the size and specifications of each part of the barrier gate, material textures that match each part of the barrier gate are selected from the material texture library; Material textures were added to various parts of the barrier gate to simulate actual usage.

[0011] In conjunction with the first aspect mentioned above, as an optional implementation method, the scenario conditions include: typical scenarios, experience scenarios, accident scenarios, and custom scenarios; The typical scenarios include: multi-vehicle interaction and queuing passage, to simulate real queuing queues during passage; The experience scenario includes: when a pedestrian crosses the barrier gate perpendicularly to the lane direction, verify whether the vehicle prioritizes responding to the pedestrian's passage request. The accident scenarios include: testing the vehicle's emergency response capabilities to extreme risks based on real-life accidents; The custom scenario includes: freely combining scenario elements according to needs, including: traffic participants, obstacles, road structure and environmental variables.

[0012] In conjunction with the first aspect mentioned above, as an optional implementation method, the simulation test results of the autonomous vehicle access gate are analyzed and processed to generate a test database. Using the database, a reusable test optimization model is generated for testing.

[0013] Secondly, this application provides a simulation testing device for a vehicle access gate, the device comprising: An execution module is used to determine diverse simulation roads and set up a three-dimensional model of the barrier gate on the simulation roads; The processing module is used to add nodes to each part of the three-dimensional model of the barrier gate. The control module is used to control the lifting arm of the barrier gate based on the node, and to set up scenario conditions in the simulation test environment to conduct simulation tests of the barrier gate for autonomous vehicles.

[0014] Thirdly, this application also provides an electronic device, the electronic device comprising: a processor; and a memory storing computer-readable instructions, which, when executed by the processor, implement the method described in any one of the first aspects.

[0015] Fourthly, this application also provides a computer-readable storage medium storing computer program instructions that, when executed by a computer, cause the computer to perform the method described in any of the first aspects.

[0016] This application provides a simulation testing method, apparatus, equipment, and storage medium for vehicle access gates. The method includes the following steps: determining diverse simulation roads and setting up a three-dimensional model of the gate on the simulation roads; adding nodes to various parts of the three-dimensional model of the gate; controlling the raising and lowering of the gate based on the nodes; and setting up scenario conditions in a simulation testing environment to conduct simulation testing of the autonomous vehicle access gate. This application systematically evaluates the passage capability of autonomous vehicles in the gate area by simulating complex working conditions in real-world scenarios, thereby efficiently verifying and optimizing the reliability and safety of the passage scheme during the research and development stage.

[0017] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0019] Figure 1This is a flowchart of a simulation test method for a vehicle access gate provided in an embodiment of this application; Figure 2 This is a schematic diagram of a simulation test device for a vehicle access gate provided in the embodiments of this application; Figure 3 This is a schematic diagram of an electronic device provided in an embodiment of this application; Figure 4 This is a schematic diagram of a computer-readable program medium provided in an embodiment of this application. Detailed Implementation

[0020] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0021] Furthermore, the accompanying drawings are merely illustrative of this disclosure and are not necessarily drawn to scale. Some of the block diagrams shown in the drawings represent functional entities and do not necessarily correspond to physically or logically independent entities.

[0022] The embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0023] Reference Figure 1 , Figure 1 The diagram shown is a simulation test flowchart of a vehicle access gate provided by the present invention. Figure 1 As shown, the method includes the following steps: Step S101: Determine diverse simulation roads and set up 3D models of gate machines on the simulation roads.

[0024] Specifically, a variety of simulated roads are determined from the road library according to the requirements to meet different testing needs, including typical roads and custom roads; The typical roads include: parking lot entrances / exits - roads with no elevation changes, parking lot entrances / exits - roads with slopes, and toll station entrances / exits; The custom road includes: freely designing and building the road structure according to specific testing needs, including: adjusting the road length, width, slope, curve radius, speed bumps, traffic signs, obstacles and road surface material.

[0025] Select a 3D model of a barrier gate from the barrier gate model library according to the requirements, and place it in the simulation test environment (i.e., a defined simulation road); wherein the 3D model of the barrier gate includes: straight barrier gate and customized barrier gate model.

[0026] For clarity, here is a typical road example: ① Parking lot entrance / exit - Road with no elevation change These types of roads do not have significant elevation changes. Vehicles do not need to deal with large changes in gradient while driving, resulting in a relatively smooth journey.

[0027] ② Parking lot entrance / exit - sloping road The road has a certain slope, which may be uphill or downhill.

[0028] ③ Toll station entrances and exits Tollbooth entrances and exits typically have dedicated toll lanes and facilities. The road width, number of lanes, and layout are designed based on the size and traffic volume of the tollbooth. Furthermore, vehicles in this area need to slow down, stop, and pay tolls, placing high demands on road signage and guidance.

[0029] Custom Roads: Custom roads allow users to freely design and build road structures according to specific testing needs. Users can adjust parameters such as road length, width, slope, and curve radius according to the characteristics of the actual scenario, and can also add special road elements such as speed bumps, traffic signs, and obstacles.

[0030] It should be explained that when introducing coupled parameters of slope and pavement material into a custom road (such as a downhill slope of 15° + wet asphalt pavement), those skilled in the art usually only focus on the road geometry and ignore the influence of physical parameters on the control strategy.

[0031] Regarding model selection, based on specific testing requirements, suitable 3D models of barrier gates are chosen for the simulated roads (mainly divided into two categories: typical barrier gate models (such as straight-arm barrier gates) and customized barrier gate models (customized in terms of size, shape, color, etc., according to specific testing requirements)). These models are then accurately placed in the simulation environment to ensure the realism, functionality, and compatibility of the barrier gate models in the simulation scenario.

[0032] The process of setting up a 3D model of the barrier gate on the simulated road includes: Based on the dimensions and specifications of each part of the barrier gate, select material textures from the material texture library that match each part of the barrier gate; Material textures were added to various parts of the barrier gate to simulate actual usage.

[0033] Specifically, the typical material texture library adds various material textures to the barrier gate body and lifting arm to simulate different actual usage conditions: ① Dirt effect: simulates the dust, stains and other conditions that accumulate on the surface of the barrier gate after long-term use. ② Damage effect: includes scratches and dents on the barrier gate body, as well as textures of breakage and deformation of the lifting arm.

[0034] Post-processing of the model: This mainly involves applying material textures and adding nodes to prepare for subsequent control and simulation of the barrier gate. ① Select appropriate material textures from the typical material texture library to avoid texture distortion; ② Add nodes to various parts of the barrier gate's 3D model according to the requirements of the simulation software. These nodes will serve as key control points for controlling the movement of the barrier gate's lifting arm. By setting the node properties and parameters, precise control of the lifting arm can be achieved.

[0035] Model adaptation: ① The 3D software needs to be compatible with the simulation scene software to ensure that the size of the 3D model of the barrier gate is consistent with the actual size. ② Import the model into the simulation software according to the simulation scene software.

[0036] It should be explained that by simulating the "dirty and damaged state" of the barrier gate through a typical material texture library, wear is transformed into a sensor input variable to verify the robustness of the autonomous driving system under non-ideal conditions. The beneficial effects of the texture include: ① Early exposure of sensor defects: discovering false detection problems caused by barrier gate wear during the R&D stage (such as being identified as "open" when the barrier is not fully raised), avoiding safety hazards in real vehicle testing.

[0037] ② Breaking through industry inertia: Those skilled in the art usually regard the barrier gate as a "standard mechanical device," but this solution transforms it into a "variable sensor interference source," expanding the dimensions of simulation testing.

[0038] Step S102: Add nodes to each part of the three-dimensional model of the barrier gate.

[0039] Specifically, nodes are added to various parts of the 3D model of the barrier gate according to the requirements of the simulation software. These nodes will serve as key control points for subsequent control of the barrier gate's lifting arm movement. By setting the node attributes and parameters, precise control of the lifting arm can be achieved.

[0040] Step S103: Control the lifting arm of the barrier gate based on the node, and set the scene conditions in the simulation test environment to conduct simulation test of the barrier gate for autonomous vehicles.

[0041] Specifically, establish a data transmission channel between the program and the simulation scenario software; Based on the data transmission channel, the system continuously receives real-time data packets of the 3D model node of the barrier gate and vehicle information data packets from the simulation scenario software, and parses the data packets to obtain the 3D model information of the barrier gate and vehicle information. The 3D model information of the barrier gate includes: position and attitude, and the vehicle information includes: position, speed, acceleration and driving direction. Based on the three-dimensional model information of the barrier gate and vehicle information, and combined with the preset lifting and lowering sequence, the timing and speed of the lifting arm are dynamically adjusted to control the lifting and lowering of the barrier gate.

[0042] For ease of understanding and illustration, based on testing requirements, nodes are used to precisely control parameters such as the raising and lowering timing and speed of the barrier gate's lifting arm. By receiving and parsing relevant data packets, combined with preset raising and lowering timing logic (i.e., setting the lifting angle, for example, setting the lifting angle to 1 degree in one frame and 2 degrees in the second frame, customizable according to requirements), precise control of the lifting arm is achieved. It mainly consists of the following nodes: Establishing a communication connection: The program will proactively establish a communication connection with the computer running the simulation software. It will use a specified IP address and port number, along with network communication protocols, to build a data transmission channel between the program and the simulation software.

[0043] Data Reception and Processing: The program continuously receives "3D model node" data packets transmitted in real time from the simulation scene software. These data packets contain key information about the 3D model of the barrier gate, such as the model's position and orientation. The program uses specific parsing algorithms to extract the required data from the data packets. Simultaneously, the program also receives and parses data packets containing vehicle information. These data packets may contain key data such as the vehicle's position, speed, acceleration, and direction of travel. By parsing these data packets, the program can obtain the real-time status of the vehicle, providing a basis for subsequently determining the timing of the barrier gate's raising and lowering.

[0044] Typical lifting and lowering timing: Some common and universal lifting and lowering timing rules are preset. For example, when a vehicle is detected to be 1 meter away from the barrier gate, the program will trigger the corresponding control command to make the lifting gate start to rise; after the vehicle passes through the barrier gate and continues to travel 2 meters, the program will issue another command to make the lifting gate lower.

[0045] Alternatively, the timing and speed of the barrier's raising and lowering can be collected from actual vehicles. In an optional embodiment, a custom timing sequence combined with real-time vehicle data analysis enables dynamic matching between the barrier's raising and lowering logic and the vehicle's movement state, rather than the traditional fixed-distance triggering (e.g., raising the barrier when the vehicle is 1 meter away from the barrier). When vehicles approach the barrier at different speeds, a fixed 1-meter raising time may result in high-speed vehicles not having enough time to brake, or low-speed vehicles having too long a waiting time. (That is, it no longer relies on a preset distance (e.g., raising the barrier 1 meter), but dynamically adjusts the timing and speed of the barrier raising by analyzing dynamic data such as vehicle speed, acceleration, and road slope in real time, forming a closed-loop test logic of "perception-decision-execution").

[0046] Typical lifting speed: Specifies the lifting speed of the boom under normal operating conditions, such as lifting operations at a speed of X rad / s.

[0047] Customizable timing: The lifting and lowering timing can be flexibly set according to specific testing needs. For example, the pole can be kept in the raised state at all times, or it can be set to rise only when the vehicle reaches a specific position, realizing more personalized control logic.

[0048] Drive Control: After parsing the "3D model node" data packet and the vehicle information data packet, the program generates corresponding control commands based on the preset lifting timing logic and sends them to the "3D model node" data packet. It's important to explain that parsing the 3D model node data packet is for controlling the barrier gate. For example, by parsing the data packet, the state of the 3D model can be determined, such as whether it is running or closed (0 for closed, 1 for running). If the parsed value is 0, it is adjusted to 1, thereby controlling the barrier gate arm to move.

[0049] In one embodiment, setting up scenario conditions in a simulation testing environment includes: The scenario conditions include: typical scenarios, experience scenarios, accident scenarios, and custom scenarios; The typical scenarios include: multi-vehicle interaction and queuing passage, to simulate real queuing queues during passage; The experience scenario includes: when a pedestrian crosses the barrier gate perpendicularly to the lane direction, verify whether the vehicle prioritizes responding to the pedestrian's passage request. The accident scenarios include: testing the vehicle's emergency response capabilities to extreme risks based on real-life accidents; The custom scenario includes: freely combining scenario elements according to needs, including: traffic participants, obstacles, road structure and environmental variables.

[0050] Specifically, a real-world barrier gate access test environment is constructed to not only verify the basic functions of vehicles passing through the barrier gate, but also to focus on simulating comprehensive traffic capabilities under complex working conditions. The module is divided into four categories: typical scenarios, experience scenarios, accident scenarios, and custom scenarios, covering diverse traffic participant behaviors, road conditions, and emergencies, to comprehensively evaluate the safety, decision-making rationality, and environmental adaptability of autonomous vehicles in barrier gate scenarios.

[0051] Typical scenarios are based on the conventional traffic logic of parking lots and toll stations, including high-frequency scenarios such as multi-vehicle interaction and queuing. For example, dynamic vehicles are set up in front of and behind the main vehicle (such as the vehicle in front slowly paying the toll and the vehicle behind following closely) to simulate a real queue. Experience scenario: When the barrier gate starts to lift, pedestrians cross from the side of the barrier gate perpendicular to the lane direction (such as a pedestrian walkway near a parking lot exit). Verify whether vehicles prioritize responding to pedestrians' crossing needs (such as emergency braking or waiting for pedestrians to cross) to avoid accidents caused by the mechanical logic of "lifting the barrier means passage".

[0052] Accident Scenario: Based on a real-life accident, this test assesses the vehicle's emergency response capabilities to extreme risks. Examples include a downhill section following a barrier gate, with obstacles or children on the road surface. Customizable scenarios: Scenario elements (such as traffic participants, road structure, and environmental variables) can be freely combined according to R&D, compliance, and other needs.

[0053] Understandably, the scenario setup involves constructing extreme accident scenarios with multiple overlapping factors. This involves combining downhill sections, obstacles, and pedestrian crossings into a "composite accident scenario," overcoming the limitations of existing single-factor testing technologies. It covers high-incidence real-world accident scenarios: accidents in the barrier gate area are caused by a combination of factors (such as slippery roads due to rain, sudden stops by vehicles in front, and pedestrians crossing). This solution simulates and reproduces real accident chains to optimize the decision-making algorithm in advance. (That is, establishing a mapping relationship between "risk factors" and "test cases," such as a multi-risk scenario of "rainy / foggy weather + dirty barrier gate + sudden pedestrian crossing." Dangerous / extreme / accident scenarios for autonomous vehicles passing through barrier gates can be broken down into quantifiable test dimensions, such as barrier gate dirt status × road conditions × ambient weather × traffic participants, thus improving test coverage.) In one embodiment, the simulation test results of the autonomous vehicle access gate are analyzed and processed to generate a reusable test database; using the database, a reusable test optimization model is generated for testing.

[0054] Specifically, test results are recorded, and hidden patterns in the data (such as "correlation between the degree of dirt on the barrier gate and the false detection rate of the sensor" and "critical threshold of decision delay in extreme scenarios") are extracted to form a reusable test optimization model.

[0055] Mining: ① Data collection scope Barrier gate status data: degree of dirtiness (e.g., texture type: light / heavy dirtiness), damage type (scratches / dents / breakage), lifting and lowering timing parameters (arm lifting speed, trigger distance).

[0056] Sensor data: LiDAR point cloud density, camera image clarity, millimeter-wave radar reflection intensity, and corresponding false detection results (such as failure to recognize the raised lever or misjudgment as an obstacle).

[0057] Vehicle operating data: speed, acceleration, braking distance, decision delay time (the interval between sensor detection and action execution).

[0058] Scene environment data: road slope, weather parameters (rain and fog levels), traffic participant behavior (pedestrian crossing speed, acceleration and deceleration of vehicles in front).

[0059] ② Data annotation methods Quantify the degree of dirt on the barrier gate: Dirt effects in the texture library are divided into 1-5 levels according to pixel grayscale value or stain area ratio (e.g., level 1 is light dust, level 5 is covering stain).

[0060] Define false detection events: Identify the deviation between the sensor output and the actual state of the barrier gate through manual annotation or rule engine (e.g., "the barrier gate has been raised but the sensor has not detected it" is recorded as a false detection).

[0061] Labeling extreme scenarios: Based on the accident scenario database, add labels to scenarios such as "downhill + obstacle" and "pedestrian crossing + gate failure", and associate them with the measured values ​​of decision delay time.

[0062] Example: Data Acquisition: Run 500 tests in the simulation, covering dirt maps from level 1 to 5, and record the data and false positives for each test to form a dataset. For example, if the level 5 dirt map has the most false positives in the dataset, the level 5 dirt map can be directly selected for simulation testing in other scenarios. This forms a reusable test optimization model.

[0063] Optionally, the data packets transmitted in real time during the simulation scenario can be parsed to record key vehicle operating data, such as pose, speed, acceleration, and distance to the barrier gate. Based on this, the recorded data can be analyzed to provide strong data support for evaluating the performance and safety of autonomous vehicles in barrier gate scenarios.

[0064] Understandably, data processing not only records test results but also uncovers hidden patterns within the data, such as the correlation between the dirt status of the barrier gate and the sensor false detection rate. It can collect relevant data in real time during the testing process: barrier gate status (dirt level, damage type), scene environment data (slope, weather, traffic participant behavior, etc.), vehicle operation data (speed, acceleration, braking distance, etc.), and sensor data (camera image clarity, LiDAR point cloud density, false detection results). Based on the test results, labels are added to the test scene, such as downhill + obstacle.

[0065] Reference Figure 2 , Figure 2 The diagram shown is a simulation test device for a vehicle access gate provided by the present invention. Figure 2 As shown, the device includes: Execution module 201: It is used to determine the diverse simulation roads and set the three-dimensional model of the gate machine on the simulation roads.

[0066] Processing module 202: It is used to add nodes to each part of the three-dimensional model of the barrier gate.

[0067] Control module 203: It is used to control the lifting arm of the barrier gate based on the node, and set the scene conditions in the simulation test environment to conduct simulation test of the barrier gate for autonomous vehicles.

[0068] Furthermore, in one possible implementation, the control module is also used to establish a data transmission channel between the program and the simulation scene software; Based on the data transmission channel, the system continuously receives real-time data packets of the 3D model node of the barrier gate and vehicle information data packets from the simulation scenario software, and parses the data packets to obtain the 3D model information of the barrier gate and vehicle information. The 3D model information of the barrier gate includes: position and attitude, and the vehicle information includes: position, speed, acceleration and driving direction. Based on the three-dimensional model information of the barrier gate and vehicle information, and combined with the preset lifting and lowering sequence, the timing and speed of the lifting arm are dynamically adjusted to control the lifting and lowering of the barrier gate.

[0069] Furthermore, in one possible implementation, the execution module is also configured to determine a variety of simulated roads from the road library according to requirements to meet different testing needs, wherein the simulated roads include typical roads and custom roads; The typical roads include: parking lot entrances / exits - roads with no elevation changes, parking lot entrances / exits - roads with slopes, and toll station entrances / exits; The custom road includes: freely designing and building the road structure according to specific testing needs, including: adjusting the road length, width, slope, curve radius, speed bumps, traffic signs, obstacles and road surface material.

[0070] Furthermore, in one possible implementation, the execution module is also used to select a 3D model of a barrier gate from the barrier gate model library as needed and place it in the simulation test environment; The three-dimensional model of the barrier gate includes: a straight-arm barrier gate and a customized barrier gate model.

[0071] Furthermore, in one possible implementation, the processing module is also used to select material maps that match the various parts of the barrier gate from the material map library based on the size and specifications of each part of the barrier gate. Material textures were added to various parts of the barrier gate to simulate actual usage.

[0072] Furthermore, in one possible implementation, the processing module is also used to handle the scenario conditions including: typical scenarios, experience scenarios, accident scenarios, and custom scenarios; The typical scenarios include: multi-vehicle interaction and queuing passage, to simulate real queuing queues during passage; The experience scenario includes: when a pedestrian crosses the barrier gate perpendicularly to the lane direction, verify whether the vehicle prioritizes responding to the pedestrian's passage request. The accident scenarios include: testing the vehicle's emergency response capabilities to extreme risks based on real-life accidents; The custom scenario includes: freely combining scenario elements according to needs, including: traffic participants, obstacles, road structure and environmental variables.

[0073] Furthermore, in one possible implementation, the processing module is also used to analyze and process the simulation test results of the autonomous vehicle access gate to generate a test database. Using the database, a reusable test optimization model is generated for testing.

[0074] The following reference Figure 3 To describe an electronic device 300 according to this embodiment of the present invention. Figure 3 The electronic device 300 shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of the present invention.

[0075] like Figure 3As shown, the electronic device 300 is presented in the form of a general-purpose computing device. The components of the electronic device 300 may include, but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including storage unit 320 and processing unit 310).

[0076] The storage unit stores program code that can be executed by the processing unit 310, causing the processing unit 310 to perform the steps described in the "Embodiment Methods" section of this specification according to various exemplary embodiments of the present invention.

[0077] Storage unit 320 may include readable media in the form of volatile storage units, such as random access memory (RAM) 321 and / or cache memory 322, and may further include read-only memory (ROM) 323.

[0078] Storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, including but not limited to: an operating system, one or more application programs, other program modules, and program data, each or some combination of these examples may include an implementation of a network environment.

[0079] Bus 330 can represent one or more of several types of bus structures, including a memory cell bus or memory cell controller, a peripheral bus, a graphics acceleration port, a processing unit, or a local bus using any of the various bus structures.

[0080] Electronic device 300 can also communicate with one or more external devices (e.g., keyboard, pointing device, Bluetooth device, etc.), one or more devices that enable a user to interact with electronic device 300, and / or any device that enables electronic device 300 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be performed via input / output (I / O) interface 350. Furthermore, electronic device 300 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN), and / or public networks, such as the Internet) via network adapter 360. As shown, network adapter 360 communicates with other modules of electronic device 300 via bus 330. It should be understood that, although not shown in the figures, other hardware and / or software modules can be used in conjunction with electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0081] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0082] According to the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention can also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

[0083] refer to Figure 4 As shown, a program product 400 for implementing the above-described method according to an embodiment of the present invention is described. This product may employ a portable compact disc read-only memory (CD-ROM) and include program code, and may run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto. In this document, the readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0084] The program product may employ any combination of one or more readable media. A readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0085] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0086] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0087] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0088] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0089] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

[0090] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

Claims

1. A method of simulation testing of a vehicle access gate, characterized by, The method comprises the following steps: determining diversified simulation roads and setting up barrier gate three-dimensional models on the simulation roads; adding nodes to each part of the barrier gate three-dimensional models; controlling the barrier gate lifting rods based on the nodes and setting up scene working conditions in a simulation test environment to conduct simulation tests of automatic driving vehicles passing through the barrier gates.

2. The method of claim 1, wherein, The control of the barrier gate lifting rods based on the nodes comprises: establishing a data transmission channel between a program and simulation scene software; continuously receiving barrier gate three-dimensional model node data packets and vehicle information data packets transmitted by the simulation scene software in real time based on the data transmission channel, and analyzing the data packets to obtain barrier gate three-dimensional model information and vehicle information, wherein the barrier gate three-dimensional model information comprises position and posture, and the vehicle information comprises position, speed, acceleration and driving direction; controlling the barrier gate lifting rods based on the barrier gate three-dimensional model information and vehicle information and dynamically adjusting the lifting rod lifting time and speed according to a preset lifting time sequence.

3. The method of claim 1, wherein, The determination of diversified simulation roads comprises: determining diversified simulation roads from a road library according to requirements to meet different test requirements, wherein the simulation roads comprise typical roads and self-defined roads; the typical roads comprise parking lot entrances-no height change roads, parking lot entrances-with slope roads and toll station entrances; the self-defined roads comprise freely designed and built road structures according to specific test requirements, which comprise adjusting the length, width, slope, curve radius, deceleration zone, traffic signs, obstacles and road surface materials of the roads.

4. The method of claim 1, wherein, The setting up of barrier gate three-dimensional models on the simulation roads comprises: selecting barrier gate three-dimensional models from a barrier gate model library according to requirements and placing them in a simulation test environment; wherein the barrier gate three-dimensional models comprise straight rod barriers and customized barrier gate models.

5. The method of claim 1, wherein, After the setting up of barrier gate three-dimensional models on the simulation roads, the method comprises: selecting material maps matched with each part of the barrier gates from a material map library based on the size and specifications of each part of the barrier gates; adding the material maps to each part of the barrier gates to simulate the actual use state.

6. The method of claim 1, wherein, The setting up of scene working conditions in the simulation test environment comprises: the scene working conditions comprise typical scenes, experience scenes, accident scenes and self-defined scenes; the typical scenes comprise multi-vehicle interaction and queuing passing to simulate real queuing queues during passing; the experience scenes comprise verifying whether the vehicle responds to the pedestrian passing demand when the pedestrian passes through from the side of the barrier gate perpendicular to the lane direction; the accident scenes comprise testing the emergency handling capability of the vehicle to extreme risks based on real accidents; the self-defined scenes comprise freely combining scene elements according to requirements, which comprise traffic participants, obstacles, road structures and environmental variables.

7. The method of claim 1, wherein, The method comprises the following steps: analyzing and processing the simulation test results of automatic driving vehicles passing through the barrier gates to generate a test database; generating a reused test optimization model by using the database for testing.

8. A simulation test device for a vehicle access gate, characterized in that The method comprises the following steps: an execution module for determining diversified simulation roads and setting up barrier gate three-dimensional models on the simulation roads; a processing module, configured to add nodes to each part of the barrier gate machine three-dimensional model; a control module, configured to control the barrier gate machine lifting rod based on the nodes, and set a scene working condition in a simulation test environment to perform a simulation test of the automatic driving vehicle passing the barrier gate machine.

9. An electronic device, comprising: The electronic device comprises: a processor; a memory, which stores computer readable instructions, and the computer readable instructions are executed by the processor to implement the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer program instructions are stored in the computer, and when the computer program instructions are executed by the computer, the computer executes the method according to any one of claims 1 to 7.

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