V2X simulation testing systems, methods, and computer program products

Abstract

This application applies to the field of simulation technology, providing a V2X simulation testing system, method, and computer program product. The simulation testing system includes a simulation platform, a roadside terminal, and an in-vehicle terminal: the simulation platform simulates virtual vehicles and virtual traffic scenarios, and sends first driving information of the virtual vehicle and traffic information in the virtual traffic scenario to the roadside terminal; the roadside terminal generates interactive information based on traffic information, the first driving information, and second driving information of the real vehicle, and sends it to the simulation platform and the in-vehicle terminal respectively, and is used to realize driving information interaction between the in-vehicle terminal and the virtual vehicle; the second driving information is sent by the in-vehicle terminal, and the interactive information is used by the simulation platform to simulate the driving of the virtual vehicle and by the in-vehicle terminal to assist the driving of the real vehicle. Using the above simulation system for V2X simulation testing can reduce the cost and complexity of testing.

Description

Technical Field

[0001] This application belongs to the field of simulation technology, and in particular relates to a V2X simulation testing system, method and computer program product. Background Technology

[0002] V2X (Vehicle-to-Everything) technology, as an advanced means of information exchange between vehicles and their surroundings, encompasses various communication modes such as V2V (Vehicle-to-Vehicle), V2I (Vehicle-to-Infrastructure), V2P (Vehicle-to-Person), and V2N (Vehicle-to-Network). Through V2X technology, real-time information sharing among diverse entities can be achieved, improving road safety, enhancing traffic flow, and optimizing traffic flow. Therefore, testing V2X functionality is an important step.

[0003] Currently, the main method for simulating and testing V2X functionality is to conduct the tests in real-world testing environments. For example, this requires multiple real vehicles equipped with V2X capabilities to drive and test in a real testing environment.

[0004] However, test scenarios built in real-world testing environments are often not comprehensive enough. For example, inefficient test scenario creation leads to low testing efficiency and poor repeatability. Summary of the Invention

[0005] This application provides a V2X simulation testing system, method, and computer program product, which can solve the problem of low efficiency and poor repeatability caused by the low efficiency of test scenarios built in real test sites.

[0006] In a first aspect, embodiments of this application provide a simulation testing system, including a simulation platform, a roadside terminal, and an in-vehicle terminal:

[0007] The simulation platform is used to simulate virtual vehicles and virtual traffic scenarios, and to send the first driving information of the virtual vehicles and the traffic information in the virtual traffic scenarios to the roadside terminal.

[0008] The roadside terminal is used to generate interactive information based on traffic information, first driving information, and second driving information of the real vehicle, and send them to the simulation platform and the vehicle terminal respectively. It is also used to realize driving information interaction between the vehicle terminal and the virtual vehicle. The second driving information is sent by the vehicle terminal. The interactive information is used by the simulation platform to simulate the driving of the virtual vehicle and by the vehicle terminal to assist the driving of the real vehicle.

[0009] Secondly, embodiments of this application provide a V2X simulation testing method applied to a V2X simulation testing system, the V2X simulation system including a simulation platform, a roadside terminal, and an on-board terminal: the method includes:

[0010] The control simulation platform simulates virtual vehicles and virtual traffic scenarios, and sends the first driving information of the virtual vehicle and the traffic information in the virtual traffic scenario to the roadside terminal. It also simulates the driving of the virtual vehicle based on the interactive information sent by the roadside terminal.

[0011] The control roadside terminal generates interactive information based on traffic information, first driving information, and second driving information of the real vehicle, and sends it to the simulation platform and the vehicle terminal respectively, and realizes driving information interaction between the vehicle terminal and the virtual vehicle.

[0012] The vehicle-mounted terminal sends second driving information to the roadside terminal, and assists the actual vehicle's driving based on the interactive information.

[0013] Thirdly, another embodiment of this application provides a simulation testing system, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method as described in the second aspect above.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the second aspect above.

[0015] Fifthly, embodiments of this application provide a computer program product that, when run on a simulation testing system, causes the simulation testing system to execute the method described in the second aspect.

[0016] The beneficial effects of this application embodiment compared to the prior art are as follows: The V2X simulation testing system includes a simulation platform, a roadside terminal, and an in-vehicle terminal. During testing, the simulation platform can simulate virtual vehicles and virtual traffic scenarios, and send the first driving information of the virtual vehicle and traffic information from the virtual traffic scenario to the roadside terminal. Simultaneously, the in-vehicle terminal can send the second driving information of the real vehicle to the roadside terminal. Then, the roadside terminal can generate interactive information based on the traffic information, the first driving information, and the second driving information, and send it to the simulation platform and the in-vehicle terminal respectively, for the simulation platform to simulate the driving of the virtual vehicle and for the in-vehicle terminal to complete the driving simulation of the real vehicle. Because both the virtual traffic scenario and the virtual vehicle are implemented through simulation technology, the virtual traffic scenario used for testing can be considered similar to the real test site, and therefore is not limited by the real test site. For example, it facilitates the construction of test scenarios, improving testing efficiency and ensuring repeatability. Furthermore, simulating virtual vehicles in a virtual traffic scenario, compared to deploying multiple vehicles for simulation testing in a real test site, can reduce the cost and complexity of testing. Furthermore, during simulation testing, both the onboard terminal of the real vehicle and the virtual vehicle simulated by the simulation platform interact with each other through roadside terminals. Based on this, by using roadside terminals as middleware to achieve driving information interaction between the real and virtual vehicles, data interaction between the onboard terminal and the simulation platform can be eliminated during testing. This significantly reduces simulation complexity and the complexity of information transmission during testing. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of a simulation testing system provided in one embodiment of this application;

[0019] Figure 2 This is a schematic diagram of an application scenario in a V2X simulation testing system provided in one embodiment of this application;

[0020] Figure 3 This is a schematic diagram of an application scenario illustrating the information communication protocol type used for interaction between the simulation platform, OBU, and RSU provided in an embodiment of this application.

[0021] Figure 4This is a schematic diagram illustrating an application scenario of the interaction between the simulation platform, OBU, RSU, and front-end display device provided in an embodiment of this application.

[0022] Figure 5 This is a flowchart illustrating the implementation of a V2X simulation testing method according to an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the structure of a simulation testing system provided in another embodiment of this application. Detailed Implementation

[0024] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0025] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0026] It should be noted that the information collection process (such as the facial image collection process, fingerprint information collection process, etc.) / feature extraction process involved in this application is carried out with the user's knowledge and permission. That is, the information collection process / feature extraction process complies with the requirements of laws and regulations and does not constitute an act that harms the public interest.

[0027] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0028] V2X technology, as an advanced means of information exchange between vehicles and their surroundings, encompasses various communication modes such as V2V, V2I, V2P (vehicle-to-pedestrian), and V2N. Through V2X technology, real-time information can be shared among diverse entities, improving road safety, enhancing traffic flow, and optimizing traffic flow. Therefore, testing V2X functionality is an important step.

[0029] Currently, the main method for simulating V2X functionality is to conduct tests in real-world testing environments. For example, this requires multiple vehicles equipped with V2X capabilities to drive and test in a real-world testing environment.

[0030] However, test scenarios built in real-world testing environments are often not comprehensive enough. For example, inefficient test scenario creation leads to low testing efficiency and poor repeatability.

[0031] Therefore, in order to improve testing efficiency and the repeatability of test scenarios, this application provides a V2X simulation testing system. Please refer to... Figure 1 , Figure 1 This is a schematic diagram of the structure of a V2X simulation testing system provided in one embodiment of this application. The V2X simulation testing system includes a simulation platform, a roadside terminal, and an on-board terminal.

[0032] The simulation platform is used to simulate virtual vehicles and virtual traffic scenarios, and to send the first driving information of the virtual vehicles and the traffic information in the virtual traffic scenarios to the roadside terminal.

[0033] In one embodiment, the simulation platform can utilize existing vehicle simulation software to construct V2X simulation test scenarios. For example, it can construct virtual vehicle and virtual traffic scenarios. When simulating the driving of a virtual vehicle, the simulation can be performed based on the virtual vehicle's initial driving information, dynamic parameters during the driving process, and the vehicle's dynamics model.

[0034] Based on this, it can be assumed that during the driving process of the simulated virtual vehicle, the simulation platform can obtain the first driving information of the virtual vehicle.

[0035] In one embodiment, the first driving information includes, but is not limited to, one or more of the following: the virtual vehicle's position, speed, platooning status (e.g., joining, following, leaving platoons), cooperation status (e.g., far field, cooperating, near field), driving intention (e.g., going straight, turning, accelerating / decelerating), and warning information; these are not limited. The number of virtual vehicles can be set according to actual conditions and is not limited.

[0036] As an example, the formation state can be represented by: 0 indicating free, 1 indicating joining the formation, 2 indicating joining the formation, 3 indicating following, 4 indicating leaving the formation, and 5 indicating leaving the formation. Similarly, driving intention can be represented by: 0 indicating going straight, 1 indicating turning left, 2 indicating turning right, 3 indicating acceleration, 4 indicating deceleration, 5 indicating stopping, and 6 indicating reversing. The cooperative state can be represented by: 0 indicating far field, 1 indicating cooperative, and 2 indicating near field.

[0037] Furthermore, the aforementioned virtual traffic scenarios can be pre-constructed based on real vehicle test scenarios, thereby making the constructed virtual traffic scenarios more consistent with actual conditions and improving the accuracy of testing.

[0038] The simulation platform can be pre-set with simulation data corresponding to various test scenarios. For example, the simulation data corresponding to the test scenarios includes, but is not limited to, high-precision maps and traffic light data corresponding to road types.

[0039] For example, road types include, but are not limited to, highways, rural roads, dirt roads, and sandy roads, and each road type can consist of one or more types of roads, such as straight roads, curves, and intersections. Traffic participants include, but are not limited to, vehicles, pedestrians, and static obstacles. Traffic light data includes, but is not limited to, red, yellow, and green states, and the switching time for each state.

[0040] It should be noted that traffic information typically changes as virtual vehicles navigate within virtual traffic scenarios. For example, real-time road conditions may change. Therefore, the simulation testing scenarios conducted by in-vehicle terminals based on changing traffic information more closely resemble those of testing in real-world test environments.

[0041] Based on this, it can be assumed that the aforementioned traffic information includes, but is not limited to, traffic light status, high-precision maps, and real-time road conditions in the virtual traffic scenario during the simulation process.

[0042] Real-time traffic conditions include, but are not limited to, virtual traffic scenarios, such as vehicles parked in emergency lanes, vehicles driving in the wrong direction, vehicles breaking down, and traffic accidents.

[0043] In one embodiment, the simulation platform includes, but is not limited to, simulation platforms used for vehicle simulation testing such as Carla, Prescan, and Panosim. In this embodiment, the type of simulation platform is not limited.

[0044] The roadside terminal can be a Roadside Unit (RSU), which is a key component of the V2X communication system. Typically, RSUs are installed on the side of the road, such as traffic light poles, lampposts, or other fixed locations, serving as communication nodes between vehicles and infrastructure. One of the main functions of the RSU is to facilitate information exchange between vehicles and infrastructure, thereby enhancing road traffic safety and efficiency.

[0045] Specifically, the RSU can be used to collect traffic information and driving information of individual vehicles to communicate with terminals such as vehicles, traffic lights, and electronic signs, realizing functions such as vehicle-to-infrastructure (V2I) connectivity and real-time traffic signal interaction. In the simulation test of this embodiment, the role of the roadside terminal is detailed below:

[0046] The roadside terminal is used to generate interactive information based on traffic information, first driving information, and second driving information of the real vehicle, and send them to the simulation platform and the vehicle terminal respectively. It is also used to realize driving information interaction between the vehicle terminal and the virtual vehicle. The second driving information is sent by the vehicle terminal. The interactive information is used by the simulation platform to simulate the driving of the virtual vehicle and by the vehicle terminal to assist the driving of the real vehicle.

[0047] In one embodiment, the aforementioned interactive information may be fused information that integrates the traffic information, the first driving information, and the second driving information of the actual vehicle as described above, or guidance information or traffic control optimization information generated based on the traffic information, the first driving information, and the second driving information, without limitation.

[0048] The information categories included in the second driving information may be similar to those included in the first driving information, and will not be described further.

[0049] Furthermore, the guidance information includes, but is not limited to, information such as the speed and lane of virtual or real vehicles. For example, traffic information includes traffic light data, and roadside terminals can guide vehicles to pass through intersections based on the traffic light data to change the vehicle's speed and ensure that the vehicle does not stop when passing through the intersection.

[0050] Furthermore, traffic signal optimization information includes, but is not limited to, the state optimization after a traffic light switch, and the switching time. For example, when a large number of vehicles are detected at a straight-ahead intersection, in order to optimize traffic, the RSU can control the state of the straight-ahead traffic light to change directly from red to green, or reduce the duration of the red state in the straight-ahead traffic light, without limitation.

[0051] After receiving the interaction information, the simulation platform can simulate the driving of a virtual vehicle based on the interaction information, the first driving information, and the driving intention corresponding to the virtual vehicle. Similarly, the onboard terminal can acquire the interaction information and send it to the intelligent driving controller of the real vehicle, so that the intelligent driving controller can control the driving of the real vehicle based on the interaction information, the second driving information, and its own corresponding driving intention. In other words, the onboard terminal can acquire interaction information to assist the driving of the real vehicle.

[0052] As an example, the aforementioned vehicle-mounted terminal can be an On-Board Unit (OBU) on the vehicle, a key component of the V2X communication system responsible for communication between the vehicle and its external environment (including other vehicles, roadside units, pedestrian devices, and networks). For instance, the OBU can facilitate information exchange between vehicles through wireless communication technology, contributing to improved road safety, traffic efficiency, and driving experience.

[0053] It is important to note that multiple collaborative testing vehicles are typically used in the testing of the vehicle under test. In this case, the OBUs of the multiple collaborative testing vehicles and the OBU of the vehicle under test all need to exchange driving interaction information.

[0054] In this embodiment, a simulation platform is used to simulate a virtual vehicle instead of the actual vehicle for collaborative testing. Therefore, during the simulation testing process, the On-Board Unit (OBU) of the actual vehicle needs to interact with the simulation platform of the virtual vehicle to exchange driving information. That is, the interaction between the virtual vehicle and the OBU of the actual vehicle is simulated in the simulation platform.

[0055] Typically, the interaction between the virtual vehicle and the OBU involves the virtual vehicle sending its own first driving information to the OBU, and the OBU sending the real vehicle's second driving information to the virtual vehicle.

[0056] However, since the RSU needs to obtain the first driving information of each virtual vehicle and the second driving information of the real vehicle to generate interaction information, it can be assumed that if the driving information interaction between virtual vehicles and OBU is simulated in the simulation platform, the communication between the simulation platform, RSU, and OBU during the simulation test is quite complex. That is, the simulation platform needs to send the first driving information not only to the RSU but also to the OBU. And, the OBU needs to send the first driving information not only to the RSU but also to the simulation platform.

[0057] Based on this, in order to reduce the communication complexity between the simulation platform, RSU and OBU during the simulation test, a vehicle-to-vehicle communication protocol can be set in the roadside terminal so that the RSU can simulate the interaction of driving information between the OBU and the virtual vehicle through the vehicle-to-vehicle communication protocol.

[0058] Based on the above explanation, since the role of the RSU is to generate interactive information based on the first driving information of the virtual vehicle and the second driving information of the real vehicle, using the RSU as middleware to simulate the interaction between the OBU and the simulation platform can reduce the simulation interaction between the OBU and the simulation platform during simulation testing. That is, it reduces the communication complexity to be simulated.

[0059] As an example, the vehicle-to-vehicle communication protocol mentioned above can be a V2V communication protocol.

[0060] It should be noted that in real-world scenarios, the OBU of the vehicle under test, the OBU of the vehicle being tested in collaboration, and the RSU typically exchange different data. These test scenarios include, but are not limited to, vehicle collaboration, platooning, emergency vehicle priority passage, and warning scenarios (e.g., collision warning, blind spot warning, red light violation warning).

[0061] Therefore, in order to make V2X simulation testing closer to testing in real-world scenarios, it is necessary to define the interactions between the simulation platform (including virtual vehicles), RSU, and OBU under different test scenarios. For example, the interactions between RSU, OBU, and simulation platform in different test scenarios can be illustrated as follows.

[0062] As an example, for collaborative scenario testing, the virtual vehicles that typically interact with the OBU are those that have an impact on the driving of the real vehicle. And for platooning scenario testing, the virtual vehicles that typically interact with the OBU are those included in the platoon that the real vehicle needs to enter, leave, or follow.

[0063] Based on this, in order to improve the realism of testing real vehicles, during the simulation test, the roadside terminal is also used to determine the target virtual vehicle that interacts with the real vehicle, and based on the first driving information and the second driving information corresponding to the target virtual vehicle, generate target interaction data between the target virtual vehicle and the real vehicle, and send it to the roadside terminal.

[0064] In addition, the vehicle terminal is also used to assist the actual vehicle driving based on target interaction data and interaction information.

[0065] As an example, refer to Figure 2 , Figure 2 This is a schematic diagram illustrating an application scenario in a V2X simulation testing system provided in an embodiment of this application. From... Figure 2 It can be determined that the real vehicle is in the same platoon as virtual vehicles 1 and 2. At this point, the cooperation status between the real vehicle and virtual vehicles 1 and 2 can be considered as cooperation in progress. Simultaneously, virtual vehicles 1 and 2 can be considered as target virtual vehicles that influence the movement of the real vehicle. Furthermore, virtual vehicle 3 can be considered as a vehicle that needs to enter the platoon; therefore, virtual vehicle 3 can also be considered as a target virtual vehicle that influences the movement of the real vehicle.

[0066] Subsequently, when the OBU of the real vehicle interacts with virtual vehicle 1, virtual vehicle 2, and virtual vehicle 3 respectively, the corresponding first and second driving information can be illustrated as follows:

[0067] The second driving information sent from the OBU of the real vehicle to the virtual vehicle 1 can be: the real vehicle's position, speed, platooning status (e.g., continuing to follow or preparing to leave the platoon), and cooperation status (e.g., cooperating).

[0068] The second driving information sent by the OBU to virtual vehicle 2, and the first driving information sent by virtual vehicle 1 and virtual vehicle 2 to the OBU, are similar to the second driving information sent by the OBU to virtual vehicle 1, and will not be described in detail.

[0069] In addition, the first driving information sent by virtual vehicle 3 to OBU can be: the location, speed, platooning status (e.g., platooning application), and cooperation status (e.g., in cooperation) of virtual vehicle 3.

[0070] The first driving information sent by virtual vehicle 3 to virtual vehicle 1 and virtual vehicle 2 can be similar to the first driving information sent by virtual vehicle 3 to OBU, and will not be described in detail.

[0071] Additionally, the second driving information sent by the OBU to the virtual vehicle 3 can be: the location, speed, platooning status (e.g., whether the platooning request has been approved), and cooperation status (e.g., in cooperation).

[0072] The first driving information sent from virtual vehicle 1 and virtual vehicle 2 to virtual vehicle 1 can be similar to the second driving information sent from OBU to virtual vehicle 3, and will not be described in detail.

[0073] Furthermore, both virtual vehicles 4 and 5 are located far enough from the real vehicle that they cannot affect its operation. Therefore, the OBU can interact with virtual vehicles 4 and 5 for driving information without needing to use the RSU.

[0074] For the aforementioned test scenarios, the V2X simulation system can generate simulation results based on whether the virtual vehicle and the real vehicle have completed the test objectives. These test objectives include, but are not limited to, the virtual vehicle or the real vehicle's OBU completing tasks such as joining, leaving, and maintaining a following status through the aforementioned interactions.

[0075] It should be added that, with Figure 2 For example, the communication range of the OBU of a real vehicle should include virtual vehicle 1 and virtual vehicle 2. And the communication range of the RSU can include virtual vehicle 1, virtual vehicle 2, virtual vehicle 3, virtual vehicle 4, and virtual vehicle 5.

[0076] In another embodiment, for scenarios such as priority passage for emergency vehicles and traffic flow optimization during congestion, in order to ensure traffic safety, the RSU usually needs to control the change of traffic light status to optimize traffic.

[0077] Based on this, in order to conduct simulation tests on scenarios such as priority passage for emergency vehicles and traffic flow optimization during congestion, the roadside terminal is also used to send traffic light control information to the simulation platform when the virtual traffic scenario is a preset traffic scenario. Then, the simulation platform controls the traffic light status in the simulated traffic information.

[0078] The preset traffic scenarios can be the aforementioned emergency vehicle priority passage scenario and congestion optimization traffic flow scenario, and there are no restrictions on these.

[0079] For example, when the actual vehicle is an emergency vehicle, after receiving the second driving information sent by the vehicle's OBU, the RSU can change the traffic light status at the intersection to green when it determines that the location in the second driving information is at an intersection.

[0080] Alternatively, after obtaining multiple sets of first-line driving information, based on the location and high-precision map in the first-line driving information, if the total number of virtual vehicles and real vehicles in any lane is greater than a preset value, the traffic light status corresponding to that lane can be changed to green.

[0081] When conducting simulation tests on the aforementioned preset traffic scenarios, the V2X simulation system can generate simulation results for the test scenario based on the control of traffic light states; however, this will not be described in detail.

[0082] Based on the above examples, for different test scenarios, the RSU is used as the medium for interaction between the virtual vehicle and the OBU of the real vehicle, simulating the interaction between the simulation platform (including the virtual vehicle), the RSU, and the OBU. This allows the test scenario to be consistent with real traffic scenarios while reducing the complexity of data interaction required in the simulation testing process.

[0083] In one specific embodiment, the information communication protocol type corresponding to the interaction between the simulation platform, OBU, and RSU can be as follows: Figure 3 As shown. Specifically, in the V2X field, there are usually various communication protocol types such as RSM (Road Safety Message), MAP (Map Message), SPAT (Signal Phase Timing Message), BSM (Basic Safety Message), VIR (Vehicle Intention And Request), RSC (Roadside Coordination Message), and CLPMM (Cooperative Intelligent Transportation System).

[0084] It should be noted that for RSM (Road Safety Message), the RSU (Road Safety Unit) typically uses its own sensors to detect traffic participants (e.g., virtual or real vehicles) and encodes the information into RSM messages for transmission. Examples include information about vehicle accidents, vehicle malfunctions, and foreign object intrusion.

[0085] For MAP, it is usually used together with SPAT information. It can be used to describe an intersection in a high-precision map, as well as information such as the traffic lights that exist at that intersection.

[0086] SPAT information is typically used in conjunction with MAP information to describe the phase and timing information of traffic lights. The phase of a traffic light refers to the time at which traffic flows in different directions are given permission to proceed; and the timing refers to the order in which the lights illuminate within multiple phases.

[0087] BSM (Browser Message Management) refers to messages sent out by the vehicle (both virtual and real vehicles in simulation testing). BSM includes, but is not limited to, information such as speed, steering, braking, hazard lights, and location, and is frequently used for vehicle-to-vehicle (V2V) warnings. Examples include lane change warnings, blind spot warnings, and intersection collision warnings.

[0088] For VIR, it is used to describe the vehicle's driving intentions and requests during the journey. For example, intentions such as accelerating or decelerating, and requests such as joining or leaving the platoon.

[0089] For RSC, it includes driving suggestions for the vehicle. For example, it includes suggested route information (such as suggesting driving in the left lane or suggesting driving speed).

[0090] CLPMM is used to coordinate the decisions of individual vehicles in a formation in order to avoid inter-vehicle cooperation and conflict avoidance.

[0091] It should be added that the interactive information can be one or more of the above-mentioned types of information, and there is no limitation on this.

[0092] In this embodiment, the V2X simulation testing system includes a simulation platform, a roadside terminal, and an in-vehicle terminal. During testing, the simulation platform can simulate virtual vehicles and virtual traffic scenarios, sending first driving information of the virtual vehicle and traffic information from the virtual traffic scenario to the roadside terminal. Simultaneously, the in-vehicle terminal can send second driving information of the real vehicle to the roadside terminal. Then, the roadside terminal can generate interactive information based on the traffic information, the first driving information, and the second driving information, and send this information to both the simulation platform and the in-vehicle terminal. This allows the simulation platform to simulate the driving of the virtual vehicle, and the in-vehicle terminal to complete the driving simulation of the real vehicle. Since both the virtual traffic scenario and the virtual vehicle are implemented using simulation technology, the virtual traffic scenario used for testing can be considered similar to the real test site, and therefore not limited by the real test site. For example, it facilitates the construction of test scenarios, improving testing efficiency and ensuring repeatability. Furthermore, simulating virtual vehicles in a virtual traffic scenario, compared to deploying multiple vehicles for simulation testing in a real test site, can reduce the cost and complexity of the test. Furthermore, during simulation testing, both the onboard terminal of the real vehicle and the virtual vehicle simulated by the simulation platform interact with each other through roadside terminals. Based on this, by using roadside terminals as middleware to achieve driving information interaction between the real and virtual vehicles, data interaction between the onboard terminal and the simulation platform can be eliminated during testing. This significantly reduces simulation complexity and the complexity of information transmission during testing.

[0093] It should be added that, in Figure 3 In this simulation, the simulation platform and the RSU also contain VIR (Virtual Instructions for Vehicles) and corresponding interactions for scene warnings or displays. However, it's important to note that in this embodiment, the VIR information is the final driving intent that the simulation platform needs to send to the actual vehicle's OBU (On-Board Unit) in the test scenario when the simulation test begins. This information only needs to be sent once at the start of the simulation test. It does not need to be sent again during the simulation test. Furthermore, this interaction is not between the virtual vehicle and the actual vehicle's OBU.

[0094] Furthermore, the interaction for scene alerts or displays involves the OBU displaying multiple pieces of information that need to be shown on the display interface through the simulation platform. In other words, this interaction can be considered as the interaction between the OBU and the front-end display device.

[0095] In this embodiment, when the simulation platform is considered as a front-end display device, it can also be used to display multiple pieces of information during the simulation test process, corresponding to the display of the driving process of virtual vehicles and real vehicles in the virtual traffic scenario. That is, the simulation platform can load the virtual traffic scenario and, based on the first driving information, the second driving information, and the interaction information, map the driving of virtual vehicles and real vehicles in the virtual traffic scenario in real time. It can also map the traffic light status and road changes in the virtual traffic scenario.

[0096] When displaying the driving process, it can be displayed in 2D or 3D, without any limitation.

[0097] In another embodiment, the V2X simulation system may further include a front-end display device to display the driving process of virtual vehicles and real vehicles in a virtual traffic scenario based on first driving information, second driving information, and interaction information.

[0098] The front-end display device can be the aforementioned simulation device, or it can be an electronic device such as a tablet computer or a laptop computer; there is no limitation on this.

[0099] As an example, a V2X simulation test system can add a feature-rich front-end web interface to the simulation platform to display the driving process of virtual vehicles and real vehicles in virtual traffic scenarios.

[0100] It should be noted that when the simulation device receives information from the OBU and RSU that needs to be displayed, it will only be used for display and not for interaction during the simulation test process.

[0101] It should be added that using front-end display devices to show the driving process of virtual vehicles and real vehicles in virtual traffic scenarios can allow testers to intuitively experience the driving process of real and virtual vehicles during V2X testing, thereby improving the test results.

[0102] Based on the above, during V2X simulation testing, the messages corresponding to the interactions between the simulation platform, OBU, RSU, and front-end display device can also be as follows: Figure 4 As shown. Figure 4 The information displayed regarding the interactions between the various devices is merely an example in this embodiment. It is understood that in actual simulation testing, the information corresponding to the interactions will differ for different test scenarios.

[0103] The information exchanged between the simulation platform and the RSU includes, but is not limited to: real-time traffic information sent from the simulation platform to the RSU (e.g., traffic light status, high-precision map information); and initial driving information of virtual vehicles. This initial driving information includes, but is not limited to: the virtual vehicle's position, speed, platooning status (e.g., joining, following, leaving the platoon), cooperation status (e.g., far field, cooperating, near field), driving intention (straight ahead, turning, acceleration / deceleration), and warning information. Furthermore, in preset traffic scenarios, the RSU can send traffic light control information to the simulation platform to control the traffic light status within the simulation.

[0104] During simulation testing, one interaction between the simulation platform and the OBU involves the simulation platform sending the driving intentions of the real vehicle to the OBU. Additionally, when the OBU receives driving behavior commands through the driving simulation device and simulates the driving process of the real vehicle in a virtual scenario, the OBU needs to send the corresponding driving trajectory to the simulation device so that the simulation device can simulate the driving trajectory of the real vehicle in the virtual traffic scenario.

[0105] The information exchanged between the simulation platform and the front-end display device includes, but is not limited to, traffic information and initial driving information of the virtual vehicle, enabling the front-end display device to map the simulated virtual vehicle's driving process in a virtual traffic scenario in real time. Simultaneously, the front-end display device can also serve as an entry point for user interaction, receiving driving commands from the user through the driving simulation device and simulating secondary driving information of a real vehicle.

[0106] The information exchanged between the OBU and RSU includes, but is not limited to: RSU broadcasting interactive information to the OBU (e.g., near-field traffic conditions, safety warnings, and guidance information), and the OBU sending second-stage traffic information to the RSU. The second-stage traffic information may be similar to the first-stage traffic information, and will not be detailed here.

[0107] It should be added that the OBU and RSU of a real vehicle can ensure the reliability of information transmission through encrypted secure messages. In addition, the RSU is also responsible for simulating and forwarding the first driving messages of the virtual vehicle to the OBU to support cooperative driving and platoon management between vehicles.

[0108] The information that the OBU interacts with the front-end display device includes, but is not limited to: the OBU sending second driving information to the front-end display device so that the front-end display device can display the actual driving process of the vehicle.

[0109] The information that the RSU interacts with the front-end display device can be interactive information, or it can be the first and second driving information received; there is no limitation on this.

[0110] in, Figure 4 The information communication protocols corresponding to the various information interactions shown can be referred to Figure 3 The corresponding examples are provided, and will not be explained further.

[0111] Based on the above description, in this embodiment, by constructing the above information communication protocol and interaction method, the data interaction link between the simulation platform, RSU, OBU and front-end display device can be made complete and efficient while meeting the simulation requirements of the V2X simulation test scenario.

[0112] In another embodiment, when using real vehicles for simulation testing, the real vehicles still need to be driven in external test scenarios, which means that deploying test scenarios in the outside world during the simulation testing process requires a lot of time and manpower.

[0113] Therefore, to reduce the time and manpower costs required for V2X simulation testing, the front-end display device can also be equipped with a driving simulation device to receive the user's driving behavior commands and send them to the vehicle terminal. The vehicle terminal can then respond to the driving behavior commands and simulate secondary driving information during actual vehicle operation.

[0114] The driving simulation device can consist of components such as a driver's cockpit and a visual computer. The driver's cockpit can include the same operating components as a real vehicle. For example, there are no restrictions on the operating components such as the steering wheel, clutch, foot brake, accelerator, and handbrake.

[0115] As an example, a driving simulator can collect the driving behavior of the tester in the cockpit through operating sensors, generate corresponding driving behavior commands through a visual computer, and send them to the on-board terminal. The on-board terminal can then respond to these driving behavior commands, simulating second-level driving information of a real vehicle, and send it to the simulation platform. At this point, the simulation platform can receive only the second-level driving information sent by the OBU to simulate the driving process of a real vehicle in a virtual traffic scenario, allowing the tester to make corresponding driving behavior decisions based on the simulated virtual traffic scenario. Alternatively, the on-board terminal can still first send the second-level driving information to the RSU, and then the RSU can send the second-level driving information to the simulation platform. In this embodiment, the interaction between the OBU and the simulation platform is not limited when conducting V2X simulation testing indoors.

[0116] Based on the above explanation, it can be concluded that driving simulation devices can more realistically reflect the driving intentions of testers and improve test results.

[0117] Among them, the front-end display device can use digital twin technology to display the driving process of virtual vehicles and real vehicles in virtual traffic scenarios. Specifically, digital twin technology fully utilizes data such as physical models, sensor updates, and operating history to integrate multi-disciplinary, multi-physical quantity, multi-scale, and multi-probability simulation processes, completing the mapping in virtual space to reflect the entire life cycle process of the corresponding physical equipment.

[0118] In summary, this embodiment utilizes a driving simulation device on the front-end display to receive user driving commands, which are then simulated by the onboard terminal. This eliminates the need for actual vehicle testing in external test environments, reducing the time and manpower costs associated with V2X simulation testing.

[0119] In another embodiment, this application provides a V2X simulation testing method, which can be applied to the aforementioned V2X simulation testing system. The V2X simulation system includes modules such as a simulation platform, a roadside terminal, and an on-board terminal. Please refer to the respective modules for details. Figure 5 , Figure 5 The following is a flowchart illustrating the implementation of a V2X simulation testing method provided in an embodiment of this application. The method includes the following steps:

[0120] S501, The control simulation platform simulates virtual vehicles and virtual traffic scenarios, and sends the first driving information of the virtual vehicle and the traffic information in the virtual traffic scenario to the roadside terminal, and simulates the driving of the virtual vehicle based on the interactive information sent by the roadside terminal.

[0121] S502, the roadside control terminal generates interactive information based on traffic information, first driving information and second driving information of the real vehicle, and sends it to the simulation platform and the vehicle terminal respectively, and realizes driving information interaction between the vehicle terminal and the virtual vehicle.

[0122] S503, controls the vehicle-mounted terminal to send the second driving information to the roadside terminal, and assists the actual vehicle driving based on the interactive information.

[0123] In one embodiment, the simulation platform, roadside terminal, vehicle terminal, and the information corresponding to their interactions in the above method steps have already been explained above and will not be described again.

[0124] Figure 6 This is a structural block diagram of a simulation testing system provided in another embodiment of this application. For example... Figure 6As shown, the simulation test system 600 of this embodiment includes: a processor 610, a memory 620, and a computer program 630 stored in the memory 620 and executable on the processor 610, such as a program for a V2X simulation test method. When the processor 610 executes the computer program 630, it implements the steps in the various embodiments of the above-described V2X simulation test methods, for example... Figure 5 S501 to S503 are shown. Alternatively, the processor 610 implements the above when executing the computer program 630. Figure 5 The functions of each module in the corresponding embodiments, for example, Figure 5 For details on the functions of each module shown, please refer to [link / reference]. Figure 5 The relevant descriptions in the corresponding embodiments.

[0125] For example, the computer program 630 can be divided into one or more modules, one or more of which are stored in the memory 620 and executed by the processor 610 to implement the V2X simulation testing method provided in this application embodiment. One or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program 630 in the simulation testing system 600. For example, the computer program 630 can implement the V2X simulation testing method provided in this application embodiment.

[0126] The simulation test system 600 may include, but is not limited to, a processor 610 and a memory 620. Those skilled in the art will understand that... Figure 6 This is merely an example of the simulation test system 600 and does not constitute a limitation on the simulation test system 600. It may include more or fewer components than shown, or combine certain components, or different components. For example, the simulation test system may also include input / output devices, network access devices, buses, etc.

[0127] The processor 610 may be a central processing unit, or it may be other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0128] The memory 620 can be an internal storage unit of the simulation test system 600, such as the hard disk or memory of the simulation test system 600. The memory 620 can also be an external storage device of the simulation test system 600, such as a plug-in hard disk, smart memory card, flash memory card, etc., equipped on the simulation test system 600. Furthermore, the memory 620 can include both internal storage units and external storage devices of the simulation test system 600.

[0129] This application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the V2X simulation testing method as described in the above embodiments.

[0130] This application provides a computer program product that, when run on a simulation testing system, causes the simulation testing system to execute the V2X simulation testing methods described in the above embodiments.

[0131] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A V2X simulation testing system, characterized in that, This includes a simulation platform, roadside terminals, and vehicle-mounted terminals: The simulation platform is used to simulate virtual vehicles and virtual traffic scenarios, and to send the first driving information of the virtual vehicle and the traffic information in the virtual traffic scenario to the roadside terminal. The roadside terminal is used to generate interactive information based on the traffic information, the first driving information, and the second driving information of the real vehicle, and send it to the simulation platform and the vehicle terminal respectively. It is also used to realize driving information interaction between the vehicle terminal and the virtual vehicle. The second driving information is sent by the vehicle terminal. The interactive information is used by the simulation platform to simulate the driving of the virtual vehicle and by the vehicle terminal to assist the driving of the real vehicle.

2. The system according to claim 1, characterized in that, The simulation platform is also used to simulate the virtual traffic scenario based on the test scenario of the real vehicle.

3. The system according to claim 1, characterized in that, The roadside terminal includes a vehicle-to-vehicle communication protocol, which is used to simulate the interaction of driving information between the vehicle-mounted terminal and the virtual vehicle.

4. The system according to claim 1, characterized in that, The roadside terminal is also used to determine the target virtual vehicle that interacts with the real vehicle, and generate target interaction data between the target virtual vehicle and the real vehicle based on the first driving information and the second driving information corresponding to the target virtual vehicle, and send it to the roadside terminal. The vehicle-mounted terminal is also used to assist the actual vehicle in driving based on the target interaction data and the interaction information.

5. The system according to claim 1, characterized in that, The roadside terminal is also used to send traffic light control information to the simulation platform when the virtual traffic scenario is a preset traffic scenario; The simulation platform is also used to simulate the traffic light status in the traffic information in response to the traffic light control information.

6. The system according to any one of claims 1-5, characterized in that, Also includes: A front-end display device is used to display the driving process of the virtual vehicle and the real vehicle in the virtual traffic scene based on the first driving information, the second driving information, and the interaction information.

7. The system according to claim 6, characterized in that, The front-end display device also includes: A driving simulation device is used to receive driving behavior commands from the user and send them to the vehicle terminal; The vehicle-mounted terminal also includes second driving information for responding to the driving behavior command and simulating the actual vehicle driving.

8. A V2X simulation testing method, characterized in that, The method is applied to the V2X simulation test system, which includes a simulation platform, a roadside terminal, and an on-board terminal. The simulation platform is controlled to simulate virtual vehicles and virtual traffic scenarios, and sends the first driving information of the virtual vehicle and the traffic information in the virtual traffic scenario to the roadside terminal, and simulates the driving of the virtual vehicle based on the interactive information sent by the roadside terminal; The roadside terminal is controlled to generate interactive information based on the traffic information, the first driving information, and the second driving information of the real vehicle, and send it to the simulation platform and the vehicle terminal respectively, thereby realizing the driving information interaction between the vehicle terminal and the virtual vehicle. The vehicle terminal is controlled to send the second driving information to the roadside terminal, and the vehicle is assisted in driving based on the interaction information.

9. A V2X simulation testing system, characterized in that, The system includes a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, the V2X simulation test system implements the method as described in claim 8.

10. A computer program product, characterized in that, Includes a computer program, which, when run, causes the method described in claim 8 to be performed.

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