Motor vehicle intelligent driving simulation test method, system and device, computer readable storage medium and computer program product

Abstract

The embodiment of the invention provides a simulation test method, system and device for intelligent driving of a motor vehicle, a computer readable storage medium and a computer program product. The method comprises the following steps: establishing two-way communication between a Carla simulation platform developed based on Carla simulation software and a simulation test controller of a simulation test rack through an interactive interface script; a simulation scene is constructed through simulation of the Carla simulation platform, and simulation site data and simulation vehicle data are output in real time based on the simulation scene; the simulation site data and the simulation vehicle data are forwarded to a simulation test controller through an interactive interface script, and a vehicle control signal generated and output by the simulation test controller according to the simulation site data and the simulation vehicle data running an intelligent driving assistance algorithm to be subjected to simulation test is fed back to the Carla simulation platform; and controlling the simulation motor vehicle to run in the simulation scene through the Carla simulation platform based on the vehicle control signal. According to the embodiment, the simulation test difficulty and cost can be effectively reduced, and the efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving systems for motor vehicles, and in particular to an intelligent driving simulation testing system, method, apparatus, computer-readable storage medium, and computer program product for motor vehicles. Background Technology

[0002] In the development of intelligent driving systems for motor vehicles, intelligent driving simulation test benches are typically used to simulate and test the intelligent driving assistance algorithms used in the system. This is done to verify and analyze the effects of intelligent driving and to reproduce problems encountered during the intelligent driving process, thereby facilitating the development of developers to improve the intelligent driving system.

[0003] An existing method for simulating and testing intelligent driving of motor vehicles involves simulation software constructing a simulation scenario and outputting simulation site data and vehicle data to a simulation test bench. The test controller on the simulation test bench runs the intelligent driving assistance algorithm to be simulated and tested based on the simulation site data and vehicle data, generating and outputting vehicle control signals. The simulation software then controls the simulated vehicle in the simulation scenario to drive accordingly based on the vehicle control signals. The intelligent driving assistance algorithm is verified by judging whether the driving of the simulated vehicle meets the expectations.

[0004] However, the inventors found in practice that the above simulation testing method not only suffers from the drawback of high cost of simulation software, but also requires the configuration of complex data interaction links to realize data interaction between the simulation software and the test controller of the simulation test bench, which increases the difficulty of simulation testing and results in low simulation testing efficiency. Summary of the Invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a method for simulating and testing intelligent driving of motor vehicles, which can effectively reduce the difficulty and cost of simulation testing and improve efficiency.

[0006] A further technical problem to be solved by the embodiments of the present invention is to provide a motor vehicle intelligent driving simulation test system that can effectively reduce the difficulty and cost of simulation testing and improve efficiency.

[0007] A further technical problem to be solved by the embodiments of the present invention is to provide a motor vehicle intelligent driving simulation test device, which can effectively reduce the difficulty and cost of simulation testing and improve efficiency.

[0008] A further technical problem to be solved by the embodiments of the present invention is to provide a computer-readable storage medium for storing computer programs that can effectively reduce the difficulty and cost of simulation testing and improve efficiency.

[0009] The technical problem to be further solved by the embodiments of the present invention is to provide a computer program product that can effectively reduce the difficulty and cost of simulation testing and improve efficiency.

[0010] To address the aforementioned technical problems, this invention first provides the following technical solution: a method for intelligent driving simulation testing of motor vehicles, comprising the following steps: A two-way communication is established between the Carla simulation platform, developed based on Carla simulation software, and the simulation test controller of the simulation test bench through an interactive interface script. The Carla simulation platform constructs a simulation scene, which includes a simulation field and a simulated motor vehicle constructed within the simulation field according to the parameters of an actual motor vehicle. Simulation field data and simulated vehicle data are also output in real time based on the simulation scene. The interactive interface script forwards the simulation site data and simulation vehicle data to the simulation test controller, and also feeds back the vehicle control signals generated and output by the simulation test controller based on the simulation site data and simulation vehicle data to the Carla simulation platform; and The Carla simulation platform controls the simulated motor vehicle to drive within the simulation scenario based on the vehicle control signals.

[0011] Furthermore, the interactive interface script establishes bidirectional UDP communication with the Carla simulation platform based on the UDP communication protocol.

[0012] Furthermore, the simulation test controller includes a SOC processor and an MCU processor. The interactive interface script establishes a one-way communication line with the SOC processor based on the TCP communication protocol and a two-way communication line with the MCU processor based on the CAN communication protocol.

[0013] Furthermore, the interactive interface script packages the simulation site data according to the first predetermined format required by the simulation test controller and then sends it to the SOC processor through the one-way communication line. It also packages the simulation vehicle data according to the second predetermined format required by the simulation test controller and then sends it to the MCU processor through the CAN bidirectional communication line. The script also receives the vehicle control signal generated and output by the MCU processor based on the simulation site data and the simulation vehicle data preprocessed by the SOC processor, which is used to run the intelligent driving assistance algorithm to be simulated and tested.

[0014] Furthermore, the simulated field data includes at least: lane lines and obstacles; the simulated vehicle data includes at least: vehicle speed and steering wheel angle.

[0015] Furthermore, the interactive interface script is an interactive script Python_Interface obtained by developing with Python software.

[0016] On the other hand, in order to solve the above-mentioned further technical problems, the embodiments of the present invention further provide the following technical solution: a motor vehicle intelligent driving simulation test system based on any one of the above-mentioned motor vehicle intelligent driving simulation test methods, comprising: The simulation platform is a Carla simulation platform developed based on Carla simulation software. It is used to simulate and construct a simulation scene, which includes a simulation field and a simulated motor vehicle constructed in the simulation field according to the parameters of an actual motor vehicle. It is also used to output simulation field data and simulated vehicle data in real time according to the simulation scene and control the simulated motor vehicle to drive in the simulation scene according to the received vehicle control signals. A simulation test controller is used to generate and output vehicle control signals by running the intelligent driving assistance algorithm to be simulated based on the simulation site data and the simulation vehicle data; and An interactive interface script is used to establish bidirectional communication between the Carla simulation platform and the simulation test controller, so as to forward the simulation site data and simulation vehicle data output by the Carla simulation platform to the simulation test controller, and forward the vehicle control signals output by the simulation test controller to the Carla simulation platform.

[0017] On the other hand, in order to solve the above-mentioned further technical problems, the present invention provides the following technical solution: a motor vehicle intelligent driving simulation test device, the device including a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the motor vehicle intelligent driving simulation test method as described in any of the above.

[0018] Furthermore, in order to solve the aforementioned technical problems, the present invention provides the following technical solution: a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is running, it controls the device where the computer-readable storage medium is located to execute the intelligent driving simulation test method for motor vehicles as described in any of the above claims.

[0019] On the other hand, in order to solve the above-mentioned further technical problems, the present invention provides the following technical solution: a computer program product, including a computer program, wherein when the computer program is executed by a processor, it implements the steps of the intelligent driving simulation test method for motor vehicles as described in any of the above.

[0020] After adopting the above technical solution, the embodiments of the present invention have at least the following beneficial effects: The embodiments of the present invention develop a Carla simulation platform based on Carla simulation software. Carla simulation software is open source software with low usage cost. The obtained Carla simulation platform has high simulation accuracy, which can effectively improve the accuracy of simulation testing. Furthermore, by establishing bidirectional communication between the Carla simulation platform and the simulation test controller of the simulation test bench through a correspondingly designed interactive interface script, there is no need to build a complex data transmission link. This allows for the quick and accurate forwarding of simulation site data and simulation vehicle data related to the simulation scene constructed by the Carla simulation platform to the simulation test controller. The vehicle control signals generated and output by the simulation test controller based on the simulation site data and simulation vehicle data and running the intelligent driving assistance algorithm to be simulated are fed back to the Carla simulation platform. This achieves efficient data interaction between the Carla simulation platform and the simulation test controller, and also reduces the difficulty of simulation testing. Attached Figure Description

[0021] Figure 1 This is a flowchart of an optional embodiment of the intelligent driving simulation test method for motor vehicles of the present invention.

[0022] Figure 2 This is a schematic diagram of a simulation scene constructed by the Carla simulation platform, which is an optional embodiment of the intelligent driving simulation test method for motor vehicles of the present invention.

[0023] Figure 3 This is a schematic diagram of an optional embodiment of the intelligent driving simulation test system for motor vehicles of the present invention.

[0024] Figure 4 This is a further principle block diagram of an optional embodiment of the intelligent driving simulation test system for motor vehicles of the present invention.

[0025] Figure 5 This is a schematic diagram of an optional embodiment of the intelligent driving simulation test device for motor vehicles of the present invention.

[0026] Figure 6 This is a functional block diagram of an optional embodiment of the intelligent driving simulation test device for motor vehicles of the present invention. Detailed Implementation

[0027] The present application will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the following illustrative embodiments and descriptions are only used to explain the present invention and are not intended to limit the present invention. Moreover, the embodiments and features in the embodiments of the present application can be combined with each other unless otherwise specified.

[0028] like Figure 1As shown, an optional embodiment of the present invention provides a method for simulating intelligent driving of motor vehicles, comprising the following steps: S1: Establish bidirectional communication between the Carla simulation platform 3, developed based on Carla simulation software, and the simulation test controller 5 of the simulation test bench through interactive interface script 1; S2: The simulation scene is constructed through the Carla simulation platform 3. The simulation scene includes a simulation site and a simulated motor vehicle constructed in the simulation site according to the parameters of the actual motor vehicle. Simulation site data and simulated vehicle data are also output in real time based on the simulation scene. S3: The simulation site data and simulation vehicle data are forwarded to the simulation test controller 5 through the interactive interface script 1. The simulation test controller 5 also feeds back the vehicle control signals generated and output by running the Advanced Driver Assistance Systems (ADAS) algorithm to be simulated based on the simulation site data and simulation vehicle data to the Carla simulation platform 3. S4: The Carla simulation platform 3 controls the simulated motor vehicle to drive within the simulation scene based on the vehicle control signal.

[0029] This invention provides a Carla simulation platform 3 developed based on Carla simulation software. Carla simulation software is open-source, resulting in low usage costs. The Carla simulation platform 3 exhibits high simulation accuracy, effectively improving the accuracy of simulation testing. Furthermore, a bidirectional communication is established between the Carla simulation platform 3 and the simulation test controller 5 of the simulation test bench through a correspondingly designed interactive interface script 1. This eliminates the need for complex data transmission links, enabling the rapid and accurate forwarding of simulation site data and vehicle data related to the simulation scenario constructed by the Carla simulation platform 3 to the simulation test controller 5. The simulation test controller 5 also feeds back the vehicle control signals generated and output by running the intelligent driving assistance algorithm to be simulated based on the simulation site data and vehicle data to the Carla simulation platform 3. This achieves efficient data interaction between the Carla simulation platform 3 and the simulation test controller 5, reducing the difficulty of simulation testing.

[0030] like Figure 2 The image shows a simulation scene built using the Carla simulation platform 3. Carla simulation platform 3 is developed based on the UE4 / UE5 game engine and has excellent rendering effects and very high accuracy of the simulation scene, which can improve the accuracy and efficiency of simulation testing of driving systems.

[0031] In an optional embodiment of the present invention, the interactive interface script 1 establishes bidirectional UDP communication with the Carla simulation platform 3 based on the UDP communication protocol. In this embodiment, the UDP communication protocol (User Datagram Protocol) is a transport layer protocol that does not require a physical connection. The interactive interface script 1 establishes bidirectional communication with the Carla simulation platform 3 based on the UDP communication protocol, which has high real-time performance and ensures data transmission efficiency.

[0032] In an optional embodiment of the present invention, such as Figure 3 and Figure 4 As shown, the simulation test controller 5 includes a SOC processor 50 and an MCU processor 52. The interactive interface script 1 establishes a one-way communication line with the SOC processor 50 based on the TCP communication protocol and establishes a two-way communication line with the MCU processor 52 based on the CAN communication protocol.

[0033] In this embodiment, the simulation test controller of the motor vehicle simulation test bench typically includes a SOC processor 50 and an MCU processor 52. The SOC processor 50 is generally suitable for data transmission with a wider bandwidth, while the MCU processor 52 is only suitable for data transmission with a narrower bandwidth. Therefore, the SOC processor 50 establishes one-way communication with the interactive interface script 1 to receive the simulation site data sent by the interactive interface script 1. The simulation site data is usually large-volume data such as images and videos, and the higher-bandwidth TCP communication protocol is used for data transmission. The SOC processor 50 first receives and preprocesses the data into the corresponding site information, and then hands it over to the MCU processor 52 for further processing to ensure data transmission efficiency. For the simulation vehicle data with a smaller volume, the MCU processor 52 directly receives the data through bidirectional communication based on the CAN communication protocol, and then performs calculations based on the site information and the simulation vehicle data to generate the vehicle control signal. Finally, the vehicle control signal is directly sent out through bidirectional communication based on the CAN communication protocol, resulting in high overall processing efficiency.

[0034] In an optional embodiment of the present invention, the interactive interface script 1 packages the simulation site data according to a first predetermined format required by the simulation test controller 5 and then sends it to the SOC processor 50 through the unidirectional communication line. It also packages the simulation vehicle data according to a second predetermined format required by the simulation test controller and then sends it to the MCU processor 52 through the CAN bidirectional communication line. The script 1 then receives the vehicle control signal generated and output by the MCU processor 52 based on the simulation site data and simulation vehicle data preprocessed by the SOC processor 50, running the intelligent driving assistance algorithm to be simulated and tested. In this embodiment, in conjunction with the foregoing, by packaging and processing the corresponding simulation vehicle data according to their respective formats before sending, it ensures that the SOC processor 50 and MCU processor 52 can correctly identify and process the corresponding data; moreover, it also reduces the amount of data transmitted and improves transmission efficiency. It is understood that the first predetermined format can be, for example, a message format conforming to the TCP communication protocol; the second predetermined format can be a message format conforming to the CAN communication protocol.

[0035] In an optional embodiment of the present invention, the simulated field data includes at least lane lines and obstacles; the simulated vehicle data includes at least vehicle speed and steering wheel angle. In this embodiment, the simulated field data and simulated vehicle data respectively include the above-mentioned data, which can improve the accuracy of the simulation test.

[0036] In an optional embodiment of the present invention, the interaction interface script 1 is an interaction script Python_Interface obtained by developing with Python software. In this embodiment, Python_Interface is an open-source library used for declaring interfaces and statically asserting class implementations of interfaces. It is easy to develop and convenient for developers to maintain, extend, and test, and can effectively realize the data information interaction between the Carla simulation platform 3 and the simulation test controller 5.

[0037] On the other hand, such as Figure 3 As shown, this embodiment of the invention further provides a motor vehicle intelligent driving simulation test system based on the motor vehicle intelligent driving simulation test method described in any of the above embodiments, comprising: The simulation platform, which is Carla Simulation Platform 3 developed based on Carla simulation software, is used to simulate and construct a simulation scene. The simulation scene includes a simulation field and a simulated motor vehicle constructed in the simulation field according to the parameters of an actual motor vehicle. It is also used to output simulation field data and simulated vehicle data in real time according to the simulation scene and control the simulated motor vehicle to drive in the simulation scene according to the received vehicle control signals. Simulation test controller 5 is used to generate and output vehicle control signals by running the intelligent driving assistance algorithm to be simulated based on the simulation site data and the simulation vehicle data; and Interactive interface script 1 is used to establish bidirectional communication between the Carla simulation platform 3 and the simulation test controller 5, so as to forward the simulation site data and simulation vehicle data output by the Carla simulation platform 3 to the simulation test controller 5, and forward the vehicle control signal output by the simulation test controller 5 to the Carla simulation platform 3.

[0038] This invention employs the aforementioned system, developing a Carla simulation platform 3 based on Carla simulation software. Carla simulation software is open-source, resulting in low usage costs. The obtained Carla simulation platform 3 exhibits high simulation accuracy, effectively improving the accuracy of simulation testing. Furthermore, through a correspondingly designed interactive interface script 1, bidirectional communication is established between the Carla simulation platform 3 and the simulation test controller 5 of the simulation test bench. Without the need for complex data transmission links, the simulation site data and vehicle data related to the simulation scenario constructed by the Carla simulation platform 3 can be quickly and accurately forwarded to the simulation test controller 5. The vehicle control signals generated and output by the simulation test controller 5 based on the simulation site data and vehicle data, running the intelligent driving assistance algorithm to be simulated, are then fed back to the Carla simulation platform 3. This achieves efficient data interaction between the Carla simulation platform 3 and the simulation test controller 5, reducing the difficulty of simulation testing.

[0039] On the other hand, such as Figure 5 As shown, an optional embodiment of the present invention provides a motor vehicle intelligent driving simulation test device 7, including a processor 70, a memory 72, and a computer program stored in the memory 72 and configured to be executed by the processor 70. When the processor 70 executes the computer program, it implements the motor vehicle intelligent driving simulation test method as described in any of the above embodiments.

[0040] For example, the computer program can be divided into one or more modules / units, which are stored in the memory 72 and executed by the processor to complete the present invention. The one or more modules / units can be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the intelligent driving simulation test device 7. For example, the computer program can be divided into... Figure 6The functional modules in the intelligent driving simulation test device 7 for motor vehicles include the communication establishment module 80, the scene simulation and data output module 82, the data forwarding module 84, and the simulation vehicle control module 86, which respectively perform the above steps S1-S4.

[0041] The intelligent driving simulation test device 7 for motor vehicles can be a desktop computer, laptop, handheld computer, or cloud server, etc. The intelligent driving simulation test device 7 for motor vehicles may include, but is not limited to, a processor 70 and a memory 72. Those skilled in the art will understand that the schematic diagram is merely an example of the intelligent driving simulation test device 7 for motor vehicles and does not constitute a limitation on the device. It may include more or fewer components than shown, or combine certain components, or use different components. For example, the intelligent driving simulation test device 7 for motor vehicles may also include input / output devices, network access devices, buses, etc.

[0042] The processor 70 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor. The processor 70 is the control center of the intelligent driving simulation test device 7, connecting all parts of the intelligent driving simulation test device 7 via various interfaces and lines.

[0043] The memory 72 can be used to store the computer programs and / or modules. The processor 70 implements various functions of the intelligent driving simulation test device 7 by running or executing the computer programs and / or modules stored in the memory 72 and calling the data stored in the memory 72. The memory 72 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as image recognition function, image overlay function, etc.), etc.; the data storage area may store data created according to the use of the control device (such as image data, etc.). In addition, the memory 72 may include high-speed random access memory, and may also include non-volatile memory, such as hard disk, memory, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0044] If the functions described in the embodiments of the present invention are implemented in the form of software functional modules or units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the implementation of all or part of the processes in the methods of the above embodiments of the present invention can also be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by the processor 70, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0045] In another aspect, embodiments of the present invention provide a computer-readable storage medium, the computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to perform the intelligent driving simulation test method for motor vehicles as described in any of the above embodiments.

[0046] On the other hand, embodiments of the present invention further provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the intelligent driving simulation testing method for motor vehicles as described in any of the above embodiments. The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between the various embodiments can be referred to mutually.

[0047] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the scope of protection of the present invention.

Claims

1. A method for simulating and testing intelligent driving of motor vehicles, characterized in that, The method includes the following steps: A two-way communication is established between the Carla simulation platform, developed based on Carla simulation software, and the simulation test controller of the simulation test bench through an interactive interface script. The Carla simulation platform constructs a simulation scene, which includes a simulation field and a simulated motor vehicle constructed within the simulation field according to the parameters of an actual motor vehicle. Simulation field data and simulated vehicle data are also output in real time based on the simulation scene. The interactive interface script forwards the simulation site data and simulation vehicle data to the simulation test controller, and also feeds back the vehicle control signals generated and output by the simulation test controller based on the simulation site data and simulation vehicle data to the Carla simulation platform; and The Carla simulation platform controls the simulated motor vehicle to drive within the simulation scenario based on the vehicle control signals.

2. The intelligent driving simulation test method for motor vehicles as described in claim 1, characterized in that, The interactive interface script establishes bidirectional UDP communication with the Carla simulation platform based on the UDP communication protocol.

3. The intelligent driving simulation test method for motor vehicles as described in claim 1, characterized in that, The simulation test controller includes a SOC processor and an MCU processor. The interactive interface script establishes a one-way communication line with the SOC processor based on the TCP communication protocol and a two-way communication line with the MCU processor based on the CAN communication protocol.

4. The intelligent driving simulation test method for motor vehicles as described in claim 3, characterized in that, The interactive interface script packages the simulation site data according to the first predetermined format required by the simulation test controller and then sends it to the SOC processor through the one-way communication line. It also packages the simulation vehicle data according to the second predetermined format required by the simulation test controller and then sends it to the MCU processor through the CAN bidirectional communication line. The script also receives the vehicle control signal generated and output by the MCU processor based on the simulation site data and the simulation vehicle data preprocessed by the SOC processor, which is used to run the intelligent driving assistance algorithm to be simulated and tested.

5. The intelligent driving simulation test method for motor vehicles as described in claim 1, characterized in that, The simulated field data includes at least: lane lines and obstacles; the simulated vehicle data includes at least: vehicle speed and steering wheel angle.

6. The intelligent driving simulation test method for motor vehicles as described in any one of claims 1-5, characterized in that, The interactive interface script is an interactive script Python_Interface obtained by developing with Python software.

7. A motor vehicle intelligent driving simulation test system based on the motor vehicle intelligent driving simulation test method according to any one of claims 1-6, comprising: The simulation platform is used to simulate and construct a simulation scenario, which includes a simulation site and a simulated motor vehicle constructed within the simulation site according to the parameters of an actual motor vehicle. It is also used to output simulation site data and simulated vehicle data in real time according to the simulation scenario and control the simulated motor vehicle to drive within the simulation scenario according to the received vehicle control signals. The simulation test controller is used to generate and output the vehicle control signal by running the intelligent driving assistance algorithm to be simulated and tested based on the simulation site data and the simulation vehicle data. The system is characterized in that the simulation platform is a Carla simulation platform developed based on Carla simulation software, and the system further includes: An interactive interface script is used to establish bidirectional communication between the Carla simulation platform and the simulation test controller, so as to forward the simulation site data and simulation vehicle data output by the Carla simulation platform to the simulation test controller, and forward the vehicle control signals output by the simulation test controller to the Carla simulation platform.

8. A motor vehicle intelligent driving simulation testing device, characterized in that, The device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor executes the computer program to implement the intelligent driving simulation test method for motor vehicles as described in any one of claims 1-6.

9. A computer-readable storage medium comprising a stored computer program, wherein, When the computer program is running, it controls the device containing the computer-readable storage medium to perform the intelligent driving simulation test method for motor vehicles as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the intelligent driving simulation test method for motor vehicles as described in any one of claims 1-6.

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