CN112269325B

CN112269325B - Automatic driving simulation method and device, storage medium and electronic equipment

Info

Publication number: CN112269325B
Application number: CN202011513812.8A
Authority: CN
Inventors: 李勇; 王�琦
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-12-21
Filing date: 2020-12-21
Publication date: 2021-03-16
Anticipated expiration: 2040-12-21
Also published as: CN112269325A

Abstract

The invention discloses an automatic driving simulation method and device, a storage medium and electronic equipment. Wherein, the method comprises the following steps: responding to the first instruction, obtaining the dynamic parameters of the target vehicle and N groups of first constraint parameters corresponding to N control points, calculating to obtain N groups of first state parameters corresponding to N control points according to the N groups of first constraint parameters, generating and displaying a first target track of the target vehicle and the state parameters of each point on the first target track according to the N groups of first state parameters, judging the state parameters of the points on the first target track, and generating and displaying target prompt information under the condition that the state parameters are judged not to meet the dynamic parameters. The invention solves the technical problem that the simulation result is not accurate enough due to the fact that the simulation track does not conform to the motion rule in the related technology.

Description

Automatic driving simulation method and device, storage medium and electronic equipment

Technical Field

The invention relates to the field of computers, in particular to an automatic driving simulation method and device, a storage medium and electronic equipment.

Background

The control is one of key modules in an automatic driving core algorithm, the unit verification of the control algorithm in the control module by the real vehicle is usually to perform a track tracking test by positioning, that is, firstly, the real vehicle records a section of track through positioning and vehicle state, and then the recorded track is used as a target track to lead the automatic driving vehicle to perform the track tracking test.

In the automatic driving test process, in order to improve the efficiency of the algorithm, before the real vehicle is loaded, a simulation test is usually required to be carried out in the algorithm development stage. The test of the control algorithm in the simulation environment is carried out by adopting a track tracking method, namely, a target track is generated in the simulation environment, and then a vehicle dynamics model is driven by a control quantity generated by the control algorithm to track the track.

The track generated by the existing method is difficult to meet the dynamic and kinematic constraint of the vehicle, and in a partial curve which does not meet the constraint, the real vehicle or the vehicle which meets the corresponding vehicle dynamic model cannot normally run through, so that the vehicle cannot accurately track the track, the tested effect is greatly different from the expected effect, and the track which really meets the real condition is difficult to determine.

In view of the above problems, no effective solution has been proposed.

Disclosure of Invention

The embodiment of the invention provides an automatic driving simulation method and device, a storage medium and electronic equipment, which at least solve the technical problem that simulation results are not accurate enough due to the fact that simulation tracks do not accord with motion rules in the related technology.

According to an aspect of an embodiment of the present invention, there is provided an automatic driving simulation method including: responding to a first instruction, acquiring dynamic parameters of a target vehicle and N groups of corresponding first constraint parameters on N control points, wherein each control point corresponds to one group of first constraint parameters, and N is a natural number greater than 1; calculating N groups of first state parameters corresponding to the N control points according to N groups of first constraint parameters corresponding to the N control points; generating and displaying a first target track of the target vehicle and state parameters of each point on the first target track according to the N groups of first state parameters, wherein the first target track passes through the N control points; and judging the state parameters of the points on the first target track, and generating and displaying target prompt information when judging that the state parameters do not meet the kinetic parameters, wherein the target prompt information is used for indicating that the first target track needs to be adjusted.

According to another aspect of the embodiments of the present invention, there is also provided an automatic driving simulation apparatus, including:

the acquisition module is used for responding to a first instruction, acquiring dynamic parameters of a target vehicle and N groups of corresponding first constraint parameters on N control points, wherein each control point corresponds to one group of first constraint parameters, and N is a natural number greater than 1;

the calculation module is used for calculating N groups of first state parameters corresponding to the N control points according to N groups of first constraint parameters corresponding to the N control points;

a first generating module, configured to generate and display a first target trajectory of the target vehicle and state parameters of each point on the first target trajectory according to the N sets of first state parameters, where the first target trajectory passes through the N control points;

and the second generation module is used for judging the state parameters of the points on the first target track, and generating and displaying target prompt information under the condition that the state parameters do not meet the kinetic parameters, wherein the target prompt information is used for indicating that the first target track needs to be adjusted.

Optionally, the apparatus is further configured to:

under the condition that the state parameters of the points on the first target track do not meet the kinetic parameters, responding to an input second instruction, and updating the N groups of preset first constraint parameters on the N control points into N groups of second constraint parameters;

calculating N groups of second state parameters on the N control points according to the N groups of second constraint parameters corresponding to the N control points;

and generating a second target track of the target vehicle and state parameters of each point on the second target track according to the N groups of second state parameters, wherein the second target track passes through the N control points.

Optionally, the apparatus is further configured to update the N groups of first constraint parameters preset on the N control points to N groups of second constraint parameters by:

selecting at least one target control point from the N control points, updating a first constraint parameter corresponding to the target control point to a second constraint parameter, and keeping the first constraint parameter corresponding to the control point except the target control point in the N control points unchanged, wherein the point of which the state parameter does not meet the kinetic parameter is positioned on a track section where the target control point is positioned on the first target track.

updating values of corresponding first constraint parameters on one or more control points in the N control points to obtain corresponding second constraint parameters, wherein the first constraint parameters include at least one of the following parameters: the position of the control point, the course angle of the target vehicle on the control point, and the front wheel deflection angle of the target vehicle on the control point.

Optionally, the device is further configured to generate and display target prompt information when it is determined that the state parameter does not satisfy the kinetic parameter, in the following manner:

generating and displaying the target prompt message when the absolute value of the vehicle curvature calculated at one or more points on the first target track is greater than a preset maximum vehicle curvature, wherein the kinetic parameter comprises the preset maximum vehicle curvature; or

And acquiring the vehicle curvature with the maximum absolute value calculated on each track segment on the first target track, and generating and displaying the target prompt information under the condition that one or more target track segments exist on the first target track, wherein each track segment is connected with at least 2 control points in the N control points, and the vehicle curvature with the maximum absolute value calculated on the target track segment is larger than the preset maximum vehicle curvature.

Optionally, the apparatus is further configured to:

calculating a target speed at each point according to the curvature of the vehicle and the path length at each point on the first target track under the condition that the state parameters of the point on the first target track all meet the dynamic parameters, wherein the state parameters at each point comprise the curvature of the vehicle and the path length, and the path length represents the track length between the point on the first target track and the starting point on the first target track.

Optionally, the apparatus is further configured to calculate a target speed at each point on the first target trajectory from the vehicle curvature and the path length at each point by:

calculating a first maximum speed at each of the M points according to a curvature of the vehicle at each of the M points in a case where the first target trajectory includes M points, where M is a natural number greater than 1;

calculating a target speed at each of the M points according to a first maximum speed at each of the M points, the path length at each of the M points, and a preset acceleration allowed by the target vehicle.

Optionally, the apparatus is further configured to calculate a first maximum speed at each of the M points from the curvature of the vehicle at each of the M points if the first target trajectory includes the M points by:

calculating a first maximum velocity at an ith point of the M points by:

wherein the content of the first and second substances,

representing a first maximum velocity at an ith point of the M points,

wherein the content of the first and second substances,

represents a curvature of the vehicle at an ith point among the M points, mu represents a preset static friction coefficient,

which represents a preset gravitational acceleration and,

representing a wheel base of the target vehicle, the dynamic parameter comprising L;

wherein the determination is made in the following mannerStator

：

In the case where the i-th point of the M points is not a shift point and is not set as a preset target speed, it will be

Determining a predetermined regulatory maximum speed

；

In the case where the i-th point of the M points is not a shift point and is set as a preset target speed, it will be

Determining the preset target speed;

in case the ith point of the M points is a shift point, it will be

Is determined to be 0.

Optionally, the apparatus is further configured to calculate a target speed at each of the M points according to the first maximum speed at each of the M points, the path length at each of the M points, and a preset acceleration range of the target vehicle by:

calculating a second maximum speed at an i +1 th point from a first maximum speed at an i-th point of the M points, a path length at the i-th point, a path length at an i +1 th point, and a preset maximum acceleration of the target vehicle in order from the 1 st point to the M-th point, wherein,

the acceleration allowed by the target vehicle includes the maximum acceleration;

from Mth point to 1 st pointCalculating a third maximum speed at a j-1 point from a first maximum speed at a j-th point among the M points, a path length at the j-th point, a path length at a j-1 point, and a preset minimum acceleration of the target vehicle, wherein,

the target vehicle allowed acceleration comprises the minimum acceleration;

calculating a target speed at each of the M points from a total maximum speed at each of the M points, wherein the total maximum speed comprises the second maximum speed and/or the third maximum speed.

Optionally, the apparatus is further configured to calculate a second maximum speed at an i +1 st point from a first maximum speed at an i-th point of the M points, a path length at the i-th point, a path length at the i +1 st point, and a preset maximum acceleration of the target vehicle in order from the 1 st point to the M-th point by:

calculating a second maximum speed at the i +1 th point by the following formula:

wherein the content of the first and second substances,

represents a second maximum speed at the (i + 1) th point,

represents a first maximum velocity at the (i + 1) th point,

representing a first maximum velocity at said ith point,

represents the path length at the ith point,

represents the path length at the (i + 1) th point,

represents a preset maximum acceleration of the target vehicle.

Optionally, the apparatus is further configured to calculate a third maximum speed at a j-1 st point from a first maximum speed at a j-th point of the M points, a path length at the j-th point, a path length at the j-1 st point, and a preset minimum acceleration of the target vehicle in order from the M-th point to the 1 st point by:

calculating a third maximum speed at the j-1 point by:

wherein the content of the first and second substances,

represents a third maximum speed at said j-1 point,

represents a first maximum speed at said j-1 point,

representing a first maximum speed at said j-th point,

indicates the path length at the j-th point,

indicates the path length at the j-1 st point,

represents a preset minimum acceleration of the target vehicle.

Optionally, the apparatus is further configured to calculate the target velocity at each of the M points from all of the maximum velocities at each of the M points by:

calculating a target speed at an ith point of the M points by:

wherein the content of the first and second substances,

represents the target velocity at the i-th point,

representing the second maximum velocity at the ith point,

represents the third maximum velocity at the ith point.

Optionally, the apparatus is further configured to:

and calculating the target acceleration and the target passing time at each point according to the target speed and the path length at each point on the first target track.

Optionally, the apparatus is further configured to calculate a target acceleration and a target transit time at each point on the first target trajectory from the target velocity and the path length at each point by:

calculating a target acceleration and a target passing time at each point in a case where the first target trajectory includes M points, where M is a natural number greater than 1:

wherein the content of the first and second substances,

represents a target acceleration of an ith point among the M points,

represents a target speed of the (i + 1) th point among the M points,

represents a target speed of an ith point among the M points,

represents a path length of an i +1 th point among the M points,

represents a path length of an ith point of the M points,

represents a target passing time of an ith point of the M points,

represents the path length of the (i-1) th point of the M points,

represents the target speed of the i-1 point of the M points.

According to a further aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to execute the above-mentioned automatic driving simulation method when running.

According to still another aspect of the embodiments of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored, and a processor configured to execute the above-mentioned automatic driving simulation method by the computer program.

In the embodiment of the invention, a dynamic parameter of a target vehicle and N groups of first constraint parameters corresponding to N control points are obtained by responding to a first instruction, wherein each control point corresponds to one group of first constraint parameters, N is a natural number greater than 1, N groups of first state parameters corresponding to N control points are obtained by calculation according to the N groups of first constraint parameters corresponding to the N control points, a first target track of the target vehicle and the state parameters on each point on the first target track are generated and displayed according to the N groups of first state parameters, the first target track judges the state parameters of the points on the first target track through the N control points, and when the state parameters are judged not to meet the dynamic parameter, target prompt information is generated and displayed, wherein the target prompt information is used for indicating that the first target track needs to be adjusted, by utilizing the obtained dynamic parameters of the target vehicle and comparing the obtained dynamic parameters with the generated state parameters of the points on the target track, under the condition that the state parameters of the points on the target track do not meet the dynamic parameters, a message indicating that the target track needs to be adjusted is generated, and the aim of optimizing the target track generated by the simulation software is fulfilled, so that the target track is enabled to better accord with the rule of vehicle motion, a better test environment is provided for the simulation software, the technical effect of optimizing the use experience of a user is achieved, and further, the technical problem that the simulation result is not accurate due to the fact that the simulation track does not accord with the motion rule in the related technology is solved.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a schematic diagram of an application environment of an alternative autopilot simulation method according to an embodiment of the invention;

FIG. 2 is a schematic flow diagram of an alternative method of automated driving simulation according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of an alternative method of automated driving simulation according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of an alternative autopilot simulation method according to an embodiment of the invention;

FIG. 5 is a schematic illustration of yet another alternative method of automated driving simulation according to an embodiment of the present invention;

FIG. 6 is a schematic illustration of yet another alternative method of automated driving simulation according to an embodiment of the present invention;

FIG. 7 is a schematic illustration of yet another alternative method of automated driving simulation according to an embodiment of the present invention;

FIG. 8 is a schematic illustration of yet another alternative method of automated driving simulation according to an embodiment of the present invention;

FIG. 9 is a schematic flow diagram of an alternative autopilot simulation method according to an embodiment of the invention;

FIG. 10 is a schematic diagram of an alternative autopilot simulation apparatus according to an embodiment of the present invention;

fig. 11 is a schematic structural diagram of an alternative electronic device according to an embodiment of the invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

First, partial nouns or terms appearing in the description of the embodiments of the present application are applicable to the following explanations:

artificial Intelligence (AI) is a theory, method, technique and application system that uses a digital computer or a machine controlled by a digital computer to simulate, extend and expand human Intelligence, perceive the environment, acquire knowledge and use the knowledge to obtain the best results. In other words, artificial intelligence is a comprehensive technique of computer science that attempts to understand the essence of intelligence and produce a new intelligent machine that can react in a manner similar to human intelligence. Artificial intelligence is the research of the design principle and the realization method of various intelligent machines, so that the machines have the functions of perception, reasoning and decision making.

The artificial intelligence technology is a comprehensive subject and relates to the field of extensive technology, namely the technology of a hardware level and the technology of a software level. The artificial intelligence infrastructure generally includes technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, big data processing technologies, operation/interaction systems, mechatronics, and the like. The artificial intelligence software technology mainly comprises a computer vision technology, a voice processing technology, a natural language processing technology, machine learning/deep learning and the like.

The automatic driving technology generally comprises technologies such as high-precision maps, environment perception, behavior decision, path planning, motion control and the like, and has wide application prospects.

With the research and progress of artificial intelligence technology, the artificial intelligence technology is developed and applied in a plurality of fields, such as common smart homes, smart wearable devices, virtual assistants, smart speakers, smart marketing, unmanned driving, automatic driving, unmanned aerial vehicles, robots, smart medical care, smart customer service, and the like.

The invention is illustrated below with reference to examples:

according to an aspect of an embodiment of the present invention, an automatic driving simulation method is provided, and optionally, in the present embodiment, the automatic driving simulation method may be applied to a hardware environment formed by a server 101 and a user terminal 103 as shown in fig. 1. As shown in fig. 1, a server 101 is connected to a terminal 103 through a network, and may be configured to provide a service to a user terminal or a client installed on the user terminal, where the client may be a simulation client, a traffic client, a video client, an instant messaging client, a browser client, an education client, a game client, or the like. The database 105 may be provided on or separate from the server for providing data storage services for the server 101, such as, for example, an emulated data storage server, and the network may include, but is not limited to: a wired network, a wireless network, wherein the wired network comprises: a local area network, a metropolitan area network, and a wide area network, the wireless network comprising: bluetooth, WIFI, and other wireless communication enabled networks, the user terminal 103 may be a terminal configured with an emulation application, and may include but is not limited to at least one of the following: the automatic driving simulation method includes that the Mobile phone (such as an Android Mobile phone, an iOS Mobile phone, etc.), a notebook computer, a tablet computer, a palm computer, an MID (Mobile Internet Devices), a PAD, a desktop computer, a smart television, etc., the server may be a single server, or a server cluster composed of a plurality of servers, or a cloud server, which may include but is not limited to a route or a gateway, a target application 107 using the automatic driving simulation method is displayed through a user terminal 103, and the automatic driving simulation method may be executed at the target application 107 through an entry of the target application 107 configured on the terminal for executing generation of a target trajectory.

As shown in fig. 1, the automatic driving simulation method may be implemented at the user terminal 103 by the following steps:

s1, starting a target application 107 in the user terminal 103, responding to a first instruction through the target application 107, and acquiring dynamic parameters of a target vehicle and N groups of first constraint parameters corresponding to N control points, wherein each control point corresponds to one group of first constraint parameters, and N is a natural number greater than 1;

s2, calculating, in the user terminal 103, according to the N sets of first constraint parameters corresponding to the N control points through the target application 107, to obtain N sets of first state parameters corresponding to the N control points;

s3, generating and displaying a first target trajectory of the target vehicle and state parameters at each point on the first target trajectory in the user terminal 103 through the target application 107 according to the N sets of first state parameters, where the first target trajectory passes through the N control points;

s4, the user terminal 103 determines the state parameter of the point on the first target trajectory through the target application 107, and generates and displays target prompt information when the state parameter is determined not to satisfy the dynamics parameter, where the target prompt information is used to indicate that the first target trajectory needs to be adjusted.

Alternatively, in this embodiment, the automatic driving simulation method may be used by a client including but not limited to a server, or may be used by a combination of a user terminal and a server, for example, the automatic driving simulation method may be executed synchronously or asynchronously by the server and the terminal.

The above is merely an example, and the present embodiment is not particularly limited.

Optionally, as an optional implementation, as shown in fig. 2, the automatic driving simulation method includes:

s202, responding to a first instruction, acquiring dynamic parameters of a target vehicle and N groups of corresponding first constraint parameters on N control points, wherein each control point corresponds to one group of first constraint parameters, and N is a natural number greater than 1;

s204, calculating N groups of first state parameters corresponding to the N control points according to N groups of first constraint parameters corresponding to the N control points;

s206, generating and displaying a first target track of the target vehicle and state parameters of each point on the first target track according to the N groups of first state parameters, wherein the first target track passes through the N control points;

and S208, judging the state parameters of the points on the first target track, and generating and displaying target prompt information when the state parameters are judged not to meet the kinetic parameters, wherein the target prompt information is used for indicating that the first target track needs to be adjusted.

Optionally, in this embodiment, taking an automatic driving application scenario as an example, according to an anthropomorphic thought of automatic driving, the principle of an automatic driving system may be understood as layers of perception, cognition, decision-making, control, execution, and the like, a perception effect is achieved through a sensor, processing and fusion are completed according to perceived information, certain cognition and understanding are achieved on the information, after a global overall understanding is formed, a decision-making result is obtained through an algorithm, and the decision-making result is transmitted to a control system to generate an execution instruction. In the whole process, the automobile can realize information exchange between the automobile and the outside through V2X (Vehicle to event) communication.

An autonomous vehicle is mainly composed of three subsystems, namely a vehicle body, internal hardware (sensors, computers, gyroscopes and the like) and autonomous driving software for making driving decisions, therefore, for the automatic driving technology to be applied to large-scale landing, the scene data must be collected by means of large-scale drive tests, the above-described autopilot simulation method may be performed by including but not limited to autopilot simulation software, the automatic driving simulation software may include, but is not limited to, Udacity, cara Simulator, AirSim, etc. used based on Unity or fantasy engines, may also include, but is not limited to, deep drive, PyGta5, deep gtav, etc. used based on GTA, may also include, but is not limited to, robot-based simulation software Morse, Gazebo, Webots, etc., may also include, but is not limited to, ADAS simulation retrofit-based software PreScan, Panosim, IPG, via, SCANNeR, FAAC SimDriver, etc., and may also include, but is not limited to, combinations of the above and other software for implementing automatic driving simulation.

Taking the above automatic driving simulation software TADSim as an example, fig. 3 is a schematic diagram of an optional automatic driving simulation method according to an embodiment of the present invention, which may include but is not limited to the application scenario shown in fig. 3:

s1, responding to the first instruction, acquiring the dynamic parameters of the target vehicle 306 and N groups of corresponding first constraint parameters on N control points 304, wherein each control point corresponds to one group of first constraint parameters, and N is a natural number greater than 1;

s2, calculating N groups of first state parameters corresponding to the N control points 304 according to the N groups of first constraint parameters corresponding to the N control points 304;

s3, generating and displaying a first target track 302 of the target vehicle and the state parameters of each point on the first target track according to the N groups of first state parameters, wherein the first target track passes through the N control points;

and S4, judging the state parameters of the points on the first target track, and generating and displaying target prompt information 308 when the state parameters are judged not to meet the kinetic parameters, wherein the target prompt information is used for indicating that the first target track needs to be adjusted.

Optionally, in this embodiment, fig. 4 isAccording to another alternative embodiment of the present invention, as shown in fig. 4, the dynamic parameters of the target vehicle may include, but are not limited to, the wheel base L of the target vehicle, and the acceleration range of the target vehicle

Range of front wheel slip angle of target vehicle

And the maximum friction coefficient of the current target road

Etc. and may also include, but is not limited to, a minimum turning radius of the target vehicle

And maximum curvature

And the like. The above is merely an example, and the present embodiment is not limited in any way.

Optionally, in this embodiment, the N control points may include, but are not limited to, preset by a system or a server, or manually selected by a worker.

Alternatively, in the present embodiment, the target vehicle may include, but is not limited to, an automobile, a train, a motorcycle, a bicycle, and the like. For example, the target vehicle is a simulated automobile, and the first constraint parameter may include, but is not limited to

Wherein, in the step (A),

for the first of N control points

A control point, a control unit and a control unit,

to represent

The position coordinates of,

Indicating that the target vehicle is

The course angle of,

Indicating passage of a target vehicle

The angle of the front wheel of (1),

to represent

Gear position and point of

And point

The gear at the middle point is

，

Indicating passage of a target vehicle

And the target vehicle passes

Steering wheel angle of, turning half of, target vehicleRadial, acceleration, braking deceleration, etc.

Optionally, in this embodiment, the obtaining, by calculating the N groups of first state parameters corresponding to the N control points 304 according to the N groups of first constraint parameters corresponding to the N control points 304 may include, but is not limited to, determining the control points

Obtaining

To represent

The position of,

Indicating that the target vehicle is

And according to the target vehicle passing

Front wheel declination angle

Calculated passage of the target vehicle

Of (2) curvature

Determining the curvature may include, but is not limited to, determining the curvature as follows

：

S1, obtaining the wheel base of the target vehicle

And front wheel slip angle of the target vehicle

；

S2, calculating the curvature of the target vehicle

。

The above is merely an example, and the present embodiment is not limited in any way.

Optionally, in this embodiment, the generating and displaying the first target trajectory and the state parameters at each point on the first target trajectory may include, but is not limited to, obtaining the state parameters at each point on the first target trajectory and the first target trajectory by inputting the N control points and the corresponding first state parameters into a preset algorithm.

The preset algorithm may include, but is not limited to, a 7 th-order polynomial curve, a multi-order bezier curve, optimization-based methods, and the like, and may include, but is not limited to, one or more combinations of the above methods, and other methods capable of achieving similar effects.

Taking the above-mentioned method in which the preset algorithm is a 7 th-order polynomial curve as an example, the following contents may be included, but not limited to:

inputting: n control points

；

And (3) outputting: trajectory satisfying constraints and state parameters of each point on the trajectory

。

Specifically, the selection is performed in sequence

Selecting two adjacent control points：

And

the position information of each point on the first target track is solved through the two points, and the course angle of each point on the first target track is calculated

And curvature

To determine the state parameters of each point on the trajectory and the first target trajectory satisfying the corresponding constraints

Wherein, in the step (A),

is the length of each point on the trajectory to the control point.

Optionally, in this embodiment, the target prompt information is used to indicate that the first target trajectory needs to be adjusted, and specifically, the status parameter of the point on the first target trajectory may be represented by a mark including, but not limited to, a text mark, an image mark, a voice mark, and other marks capable of representing prompt information, so as to not satisfy the kinetic parameter, that is, the first target trajectory needs to be adjusted.

Optionally, in this embodiment, fig. 5 is a schematic diagram of another optional automatic driving simulation method according to an embodiment of the present invention, and the N control points and each point on the first target trajectory may be as shown in fig. 5, where a point 502 represents the control point, and a point 504 represents each point on the first target trajectory, that is, each point located between two control points 502 and forming a line.

According to the embodiment, a method for acquiring the dynamic parameters of the target vehicle and N groups of first constraint parameters corresponding to N control points in response to a first instruction is adopted, wherein each control point corresponds to one group of first constraint parameters, N is a natural number greater than 1, N groups of first state parameters corresponding to N control points are obtained through calculation according to the N groups of first constraint parameters corresponding to the N control points, a first target track of the target vehicle and the state parameters on each point on the first target track are generated and displayed according to the N groups of first state parameters, the first target track judges the state parameters of the points on the first target track through the N control points, and when the state parameters are judged not to meet the dynamic parameters, target prompt information is generated and displayed, wherein the target prompt information is used for indicating a mode that the first target track needs to be adjusted, by utilizing the obtained dynamic parameters of the target vehicle and comparing the obtained dynamic parameters with the generated state parameters of the points on the target track, under the condition that the state parameters of the points on the target track do not meet the dynamic parameters, a message indicating that the target track needs to be adjusted is generated, and the aim of optimizing the target track generated by the simulation software is fulfilled, so that the target track is enabled to better accord with the rule of vehicle motion, a better test environment is provided for the simulation software, the technical effect of optimizing the use experience of a user is achieved, and further, the technical problem that the simulation result is not accurate due to the fact that the simulation track does not accord with the motion rule in the related technology is solved.

As an optional solution, the method further comprises: under the condition that the state parameters of the points on the first target track do not meet the dynamic parameters, responding to an input second instruction, and updating N groups of preset first constraint parameters on N control points into N groups of second constraint parameters; calculating N groups of second state parameters on the N control points according to N groups of second constraint parameters corresponding to the N control points; and generating a second target track of the target vehicle and state parameters of each point on the second target track according to the N groups of second state parameters, wherein the second target track passes through the N control points.

Alternatively, in the present embodiment, the condition parameter of the point on the first target trajectory not satisfying the dynamic parameter may include, but is not limited to, that the absolute value of the curvature of the point on the first target trajectory exceeds the maximum curvature of the target vehicle.

Optionally, in this embodiment, the target instruction may include, but is not limited to, an instruction for modifying the constraint parameter, which is input in a preset display interface, and may include, but is not limited to, a text instruction, a numerical instruction, a voice instruction, and the like.

Optionally, in this embodiment, the updating N groups of first constraint parameters preset on the N control points to N groups of second constraint parameters may include, but is not limited to, adjusting values of the first constraint parameters according to input instruction information to obtain the second constraint parameters.

For example, it may include, but is not limited to, adjusting the position of a control point

Course of the vehicle

Or front wheel declination

The first target track is adjusted to obtain the second target track.

Optionally, in this embodiment, the second target trajectory is a target trajectory generated according to the adjusted state parameter, and the state parameter of the point on the second target trajectory may include, but is not limited to, meeting the preset kinetic parameter, and may also include, but is not limited to, not meeting the preset kinetic parameter.

It should be noted that, when the state parameters of the points on the second target trajectory satisfy the preset dynamics parameters, it is determined that the second target trajectory is a reasonable target trajectory that meets the real situation, and when the state parameters of the points on the second target trajectory do not satisfy the preset dynamics parameters, it is continued to update N groups of second constraint parameters preset on N control points to N groups of third constraint parameters in response to the input target instruction when the state parameters of the points on the second target trajectory do not satisfy the dynamics parameters, and determine N groups of third state parameters on N control points according to N groups of third constraint parameters preset on N control points; and generating a third target track of the target vehicle and state parameters of each point on the third target track according to the N groups of third state parameters, wherein the third target track passes through the N control points, so that the third target track is a reasonable target track conforming to the real situation.

By the embodiment, under the condition that the state parameters of the points on the first target track do not meet the kinetic parameters, in response to an input target instruction, updating N groups of first constraint parameters preset on N control points into N groups of second constraint parameters, determining N groups of second state parameters on N control points according to N groups of second constraint parameters preset on N control points, and generating a second target track of the target vehicle and state parameters on each point on the second target track according to the N groups of second state parameters, wherein the second target track realizes updating of the state parameters on the N control points by adjusting the constraint parameters in a mode of the N control points, further can generate the target track meeting the kinetic constraints of the vehicle, achieves the purpose of optimizing the target track generated by simulation software, and further realizes that the target track meets the rule of the vehicle motion, the method and the device provide a better testing environment for simulation software, optimize the technical effect of use experience of a user, and further solve the technical problem that the target trajectory does not meet the kinetic constraint because the target trajectory does not meet the motion rule in the related technology.

As an optional scheme, the updating the N groups of first constraint parameters preset on the N control points to N groups of second constraint parameters includes: selecting at least one target control point from the N control points, updating a first constraint parameter corresponding to the target control point to a second constraint parameter, and keeping the first constraint parameter corresponding to the control point except the target control point in the N control points unchanged, wherein the point of which the state parameter does not meet the kinetic parameter is positioned on a track section where the target control point is positioned on the first target track.

Optionally, in this embodiment, the generating of the second target trajectory of the target vehicle and the state parameter of each point corresponding to the second target trajectory may be implemented by, but is not limited to, updating a set of first constraint parameters of the target control point of the N control points.

Optionally, in this embodiment, the track segment is used to represent a connection portion between a control point and a control point in the target track, which may include, but is not limited to, the above

Determining if the gears between two adjacent control points are not equal

Then, it is explained in

The gear change is to be effected, i.e.

Is a shift point. Wherein the shift points are divided into two sections before and after the shift point to generate the trajectories respectively, i.e.

Generating a gear of

A section of the track of (1),

generating a gear of

A section of track of (a)

The next shift point).

By the embodiment, a set of first constraint parameters preset on a target control point in N control points are updated into a set of second constraint parameters, and a set of first constraint parameters preset on control points except the target control point in the N control points are kept unchanged, wherein points of which the state parameters do not meet the kinetic parameters are positioned on a track section where the target control point is positioned on the first target track, the operation track of the track section where the target control point is positioned and the state parameters of each point in the track section are updated by adjusting the constraint parameters of the target control points on the track section which do not meet the kinetic parameters, so that the target track meeting the kinetic constraints of the vehicle is generated, the aim of optimizing the target track generated by simulation software is fulfilled, the target track is enabled to better meet the law of the vehicle motion, a better test environment is provided for the simulation software, the technical effect of the use experience of the user is optimized, and the technical problem that the target track does not meet the kinetic constraint because the target track does not meet the motion rule in the related technology is solved.

As an optional scheme, the updating the N groups of first constraint parameters preset on the N control points to N groups of second constraint parameters includes:

Optionally, in this embodiment, the updating, which may include but is not limited to updating the values of the set of first constraint parameters preset on one or more control points of the N control points, may include but is not limited to adjusting the positions of the one or more control points

Course of the vehicle

Or front wheel declination

To determine the position of different values

Course of the vehicle

Or front wheel declination

And further, updating the first target track to the second target track is achieved.

Through the embodiment, values of a set of first constraint parameters preset on one or more control points in the N control points are updated to obtain a corresponding set of second constraint parameters, where the set of first constraint parameters includes at least one of the following: the method comprises the steps that the position of a control point, the course angle of a target vehicle on the control point and the front wheel deflection angle of the target vehicle on the control point are adjusted, the position of the control point on one or more control points, the course angle of the target vehicle on the control point and the front wheel deflection angle of the target vehicle on the control point are adjusted to update a target track, and then the target track meeting the kinetic constraint of the vehicle is generated, so that the aim of optimizing the target track generated by simulation software is fulfilled, the target track is enabled to better accord with the law of the vehicle motion, a better test environment is provided for the simulation software, the technical effect of optimizing the use experience of a user is achieved, and the technical problem that the target track cannot meet the kinetic constraint due to the fact that the target track does not accord with the motion law in the related technology is solved.

As an optional scheme, when it is determined that the state parameter does not satisfy the kinetic parameter, generating and displaying target prompt information includes:

Alternatively, in the present embodiment, the preset maximum vehicle curvature may be calculated by the following methods including but not limited to:

s1, obtaining the wheel base of the target vehicle

And front wheel slip angle of the target vehicle

；

S2, calculating the minimum turning radius of the target vehicle

And maximum curvature

。

Optionally, in this embodiment, the vehicle curvature with the maximum absolute value is the maximum curvature of the absolute value of the curvature in each track segment, and may be calculated by, but not limited to, the following manners:

；

specifically, the following may be included but not limited to:

taking the state parameter of the point on the first target track determined by a 7 th-order polynomial curve method as an example, sequentially selecting

Selecting two adjacent control points:

and

are respectively marked as

And

by solving the trajectory satisfying the corresponding constraint at the two points, the curvature and maximum curvature of each point can be determined by parametric equations including, but not limited to, 7 th degree polynomials as follows:

the corresponding parameter expressions are respectively:

and:

the design hyper-parameter may include the following:

it should be noted that, after the position information of each point on the track is obtained, the curvature of each point on the track is obtained

Can be calculated by definition, e.g. the curvature of each point on the target trajectory segment

Calculated by the following formula:

optionally, in this embodiment, the preset maximum vehicle curvature is the preset dynamic parameter.

In addition, the heading of each point on the target track can be determined based on the mode

Specifically, the following formula may be included but not limited to:

According to the embodiment, the target prompt information is generated under the condition that the absolute value of the curvature of the vehicle determined at one or more points on the first target track is larger than the preset maximum curvature of the vehicle, wherein the kinetic parameters comprise the preset maximum curvature of the vehicle; or obtaining the vehicle curvature with the maximum absolute value determined on each track segment on the first target track, and generating target prompt information under the condition that one or more target track segments exist on the first target track, wherein each track segment is connected with at least 2 control points in the N control points, and the vehicle curvature with the maximum absolute value determined on the target track segment is larger than the preset maximum vehicle curvature, by comparing the determined absolute value of the vehicle curvature with the preset maximum vehicle curvature, a message indicating that the target track needs to be adjusted is generated, so that the aim of optimizing the target track generated by simulation software is fulfilled, the target track is enabled to better accord with the rule of vehicle motion, a better test environment is provided for the simulation software, the technical effect of optimizing the use experience of a user is achieved, and the problem that the simulation track does not accord with the motion rule in the related technology is solved, leading to the technical problem that the simulation result is not accurate enough.

As an optional solution, the method further comprises:

Optionally, in this embodiment, the path length may include, but is not limited to, a track length between a point on the first target track and a starting point representing the first target track, fig. 6 is a schematic diagram of another optional automatic driving simulation method according to an embodiment of the present invention, as shown in fig. 6, a line 602 represents the first target track, an end point 604 represents the starting point of the first target track, a point 606 is any one of the above points, and then the path length corresponding to the point 606 is a length of a curve represented by a bold line 608 shown in fig. 6.

Alternatively, in the present embodiment, the target speed may be determined by including, but not limited to, a dynamic model, taking into account the target vehicle front wheel side slip.

For example, for the front wheels of the subject vehicle, to prevent sideslip, the centripetal force should be less than the static friction, i.e., it is

Wherein the content of the first and second substances,

is the wheel base of the target vehicle,

is the turning radius of the target vehicle,

is the turning radius of the front wheel

，

Is the speed of the front wheel vehicle

，

Is the deflection angle of the front wheel,

is the speed of the target vehicle,

in order to obtain a static coefficient of friction,

is the acceleration of gravity.

By the embodiment, under the condition that the state parameters of the points on the first target track all meet the kinetic parameters, determining a target speed at each point according to the curvature and path length of the vehicle at each point on the first target track, determining a target speed at each point according to the curvature and path length of the vehicle, further judging whether the target speed accords with the dynamic constraint or not according to the target speed so as to generate a message indicating that the target track needs to be adjusted, achieving the purpose of optimizing the target track generated by the simulation software, thereby realizing the technical effects that the target track is more consistent with the rule of vehicle motion, better testing environment is provided for simulation software, and the use experience of a user is optimized, furthermore, the technical problem that simulation results are not accurate enough due to the fact that simulation tracks do not conform to motion rules in the related technology is solved.

As an alternative, the calculating the target speed at each point according to the curvature and the path length of the vehicle at each point on the first target trajectory includes:

Alternatively, in this embodiment, the M may be preset by a system or a server, and the vehicle curvature of each point is determined by a front wheel slip angle of the target vehicle and a wheel base of the target vehicle.

Alternatively, in this embodiment, the first maximum speed at each point may include, but is not limited to, determining whether a point on the first target trajectory is a shift point, in which case the first maximum speed is determined to be 0, and in which case the first maximum speed is not a shift point, the first maximum speed is determined according to a preset formula.

Optionally, in this embodiment, the first maximum speed may further include, but is not limited to, being determined by a user through a predetermined input window.

Through the embodiment, under the condition that the first target track comprises M points, the first maximum speed of each point of the M points is determined according to the curvature of the vehicle at each point of the M points, the target speed of each point of the M points is determined according to the first maximum speed of each point of the M points, the path length of each point of the M points and the preset acceleration allowed by the target vehicle, the absolute value of the determined curvature of the vehicle is compared with the preset maximum curvature of the vehicle, and then the message indicating that the target track needs to be adjusted is generated, so that the aim of optimizing the target track generated by simulation software is fulfilled, the target track is enabled to better accord with the rule of vehicle motion, a better test environment is provided for the simulation software, the technical effect of optimizing the use experience of a user is achieved, and further, the technical problem that simulation results are not accurate enough due to the fact that simulation tracks do not conform to motion rules in the related technology is solved.

As an alternative, the calculating a first maximum speed at each of the M points from the curvature of the vehicle at each of the M points in the case where the first target trajectory includes the M points includes:

calculating a first maximum velocity at an ith point of the M points by:

wherein the content of the first and second substances,

representing a first maximum velocity at an ith point of the M points,

wherein the content of the first and second substances,

represents the curvature of the vehicle at the i-th point among the M points,

represents a preset static friction coefficient and is,

which represents a preset gravitational acceleration and,

wherein the determination is made as follows

：

Determining a predetermined regulatory maximum speed

；

Among the M pointsIf the ith point is not a shift point and is set to a preset target speed, the shift control device will control the shift control device to shift the shift control device to the target speed

Determining the preset target speed;

in case the ith point of the M points is a shift point, it will be

Is determined to be 0.

Alternatively, in the present embodiment, first, by formula

Determining the ith point of the M points

；

Then determining whether the ith point of the M points is a gear shifting point, and if the ith point of the M points is the gear shifting point, determining the gear shifting point

The determination is 0, and in case that the ith point of the M points is not the shift point, it is determined whether there is a speed configured by the user through a predetermined input window, and in case that there is no speed configured by the user through the predetermined input window, a second target speed of the ith point of the M points is determined as

In the case where there is a speed configured by the user through a predetermined input window, the configured speed is determined as

；

Finally, get the above

And

the minimum value of (3) is set as the first maximum speed.

By the present embodiment, determination based on curvature is adopted

And then determined according to the state of the ith point among the M points, e.g., whether it is a shift point, whether the speed is preset, etc

And finally, will

And

the medium and small value is determined as the first maximum speed, and further, the target speed of the target vehicle is determined, so that the message indicating that the target track needs to be adjusted is generated, the aim of optimizing the target track generated by the simulation software is achieved, the target track is enabled to better accord with the rule of vehicle motion, a better test environment is provided for the simulation software, the technical effect of optimizing the use experience of a user is achieved, and the technical problem that the simulation result is not accurate due to the fact that the simulation track does not accord with the motion rule in the related technology is solved.

As an alternative, the calculating the target speed at each of the M points according to the first maximum speed at each of the M points, the path length at each of the M points, and a preset acceleration range of the target vehicle includes:

according to the sequence from the 1 st point to the Mth point, according to the first maximum speed at the ith point and the path length at the ith pointDegree, path length at the i +1 th point, and a preset maximum acceleration of the target vehicle, calculating a second maximum speed at the i +1 th point, wherein,

calculating a third maximum speed at a j-1 st point from a first maximum speed at a j-th point among the M points, a path length at the j-th point, a path length at a j-1 st point, and a preset minimum acceleration of the target vehicle in order from the M-th point to the 1 st point, wherein,

the target vehicle allowed acceleration comprises the minimum acceleration;

Alternatively, in the present embodiment, the above-mentioned all maximum speeds may be understood as including, but not limited to, the maximum speed of each of the M points, for example, the 1 st point of the M points has a first maximum speed and a third maximum speed, the mth point has a first maximum speed and a second maximum speed, and the 2 nd point to the M-1 st point have a first maximum speed, a second maximum speed, and a third maximum speed, which is just an example, and the present embodiment is not limited specifically.

Alternatively, in this embodiment, the point set may be formed by determining a point set of the M points, including the start point and the end point of the first target track, but not limited to

Center point of

And

the two endpoints of the curve are respectively.

Sequentially selecting two adjacent points in the point set

And performing expansion calculation to two sides by taking the first maximum speed of the two points as a reference, wherein the expansion calculation to two sides comprises expansion calculation to the right side and expansion calculation to the left side.

Optionally, in this embodiment, the rightward expansion calculation is to determine a second maximum speed at the i +1 st point according to a first maximum speed at the i-th point, a path length at the i +1 st point, and a preset maximum acceleration of the target vehicle in order from the 1 st point to the M-th point, where,

the allowable acceleration of the target vehicle includes a maximum acceleration;

it should be noted that, the second maximum speed of the adjacent right-side point may be determined sequentially from the 1 st point to the mth point, but not limited thereto.

For example, FIG. 7 is a schematic diagram of yet another alternative method of automated driving simulation, shown in FIG. 7 as P, according to an embodiment of the present invention₁For the first point, by obtaining P₁First maximum speed, P of₁Upper path length, P₂Upper path length and preset maximum acceleration of target vehicle, and finally determines P₂The second maximum speed of (1) and so on, and then determine P respectively₃To P_MThe second maximum speed of (c).

Optionally, in this embodiment, the left-side expansion calculation is performed according to the first maximum speed at the jth point of the M points, the path length at the jth point, the path length at the j-1 st point, and the distance from the mth point to the 1 st point in order,And a preset minimum acceleration of the target vehicle, determining a third maximum speed at a j-1 point, wherein,

the allowable acceleration of the target vehicle includes a minimum acceleration.

It should be noted that, the determining of the second maximum speed of the adjacent left-side point may include, but is not limited to, sequentially determining the second maximum speed from the mth point to the 1 st point.

For example, FIG. 8 is a schematic diagram of yet another alternative method of automated driving simulation, as shown in FIG. 8 at P, in accordance with an embodiment of the present invention_MFor the first point, by obtaining P_MFirst maximum speed, P of_MUpper path length, P_M-1Upper path length and preset maximum acceleration of target vehicle, and finally determines P_M-1The third maximum speed of (1) and so on, and then determine P respectively_M-2To P₁The third maximum speed.

Optionally, in this embodiment, the minimum acceleration and the maximum acceleration are the minimum value and the maximum value of the acceleration range in the preconfigured dynamic parameters.

Optionally, in this embodiment, it can also be performed by a normalization function of the distance from the reference point

And

。

for example, by adjusting as follows:

the above is merely an example, and the present embodiment does not limit this.

By the present embodiment, the method from the 1 st point to the Mth point is adoptedSequentially determining a second maximum speed at an i +1 th point from a first maximum speed at the i-th point, a path length at the i +1 th point, and a preset maximum acceleration of the target vehicle, among the M points,

and the allowable acceleration of the target vehicle includes a maximum acceleration, and a third maximum speed at a j-1 st point is determined based on a first maximum speed at a j-th point, a path length at the j-th point, a path length at a j-1 st point, and a preset minimum acceleration of the target vehicle, in order from the M-th point to the 1 st point, wherein,

the target speed on each point in the M points can be determined by determining the second maximum speed and the third maximum speed on each point in the M points and comparing the determined second maximum speed and the third maximum speed with the first maximum speed, so that the target speed on each point in the M points can be determined, and the aim of optimizing a target track generated by simulation software is fulfilled.

As an alternative, the calculating a second maximum speed at an i +1 th point according to a first maximum speed at an i-th point of the M points, a path length at the i-th point, a path length at the i +1 th point, and a preset maximum acceleration of the target vehicle in order from the 1 st point to the M-th point includes:

wherein the content of the first and second substances,

represents a second maximum speed at the (i + 1) th point,

represents a first maximum velocity at the (i + 1) th point,

representing a first maximum velocity at said ith point,

represents the path length at the ith point,

represents the path length at the (i + 1) th point,

represents a preset maximum acceleration of the target vehicle.

Optionally, in the present embodiment, the dots are used

As a reference, calculate points

The maximum speed may include, but is not limited to, the following:

note the book

Has a maximum speed of

The displacement of the point is

And adjacent points

Has a maximum speed of

The displacement of the point is

；

Said second maximum speed is then in fact

。

Through the embodiment, the mode of determining the second maximum speed by adopting the formula is adopted, and then the target speed of each point in the M points can be determined more accurately, and the aim of optimizing the target track generated by the simulation software is achieved, so that the target track is more consistent with the rule of vehicle motion, a better test environment is provided for the simulation software, the technical effect of optimizing the use experience of a user is achieved, and furthermore, the technical problem that the simulation result is not accurate due to the fact that the simulation track in the related technology is not consistent with the motion rule is solved.

As an alternative, calculating a third maximum speed at a j-1 point according to a first maximum speed at a j-th point of the M points, a path length at the j-th point, a path length at the j-1 point, and a preset minimum acceleration of the target vehicle in order from the M-th point to the 1-th point includes:

calculating a third maximum speed at the j-1 point by:

wherein the content of the first and second substances,

represents a third maximum speed at said j-1 point,

represents a first maximum speed at said j-1 point,

representing a first maximum speed at said j-th point,

indicates the path length at the j-th point,

indicates the path length at the j-1 st point,

represents a preset minimum acceleration of the target vehicle.

Optionally, in the present embodiment, the dots are used

As a reference, calculate points

The maximum speed may include, but is not limited to, the following:

note the book

Has a maximum speed of

The displacement of the point is

And adjacent points

Has a maximum speed of

The displacement of the point is

；

The third maximum speed is actually

。

Through the embodiment, the mode of determining the third maximum speed by adopting the formula is adopted, and then the target speed of each point in the M points can be determined more accurately, and the aim of optimizing the target track generated by the simulation software is achieved, so that the target track is more consistent with the rule of vehicle motion, a better test environment is provided for the simulation software, the technical effect of optimizing the use experience of a user is achieved, and furthermore, the technical problem that the simulation result is not accurate due to the fact that the simulation track in the related technology is not consistent with the motion rule is solved.

As an alternative, the calculating the target speed at each of the M points according to all maximum speeds at each of the M points includes:

calculating a target speed at an ith point of the M points by:

wherein the content of the first and second substances,

represents the target velocity at the i-th point,

representing the second maximum velocity at the ith point,

represents the third maximum velocity at the ith point.

Alternatively, in the present embodiment, the target speed at the i-th point is set to be lower than the target speed at the i-th point

Equal to the minimum of the second maximum speed at the ith point and the third maximum speed at the ith point, and if only the second maximum speed or only the third maximum speed exists, the existing maximum speed is taken as the target speed.

According to the embodiment, the minimum value of the second maximum speed and the third maximum speed is used as the target speed, so that the target track can effectively conform to a real track, and can be constrained by the dynamic parameters to obtain a more accurate target track.

As an optional solution, the method further comprises:

As an alternative, the calculating the target acceleration and the target passing time at each point according to the target speed and the path length at each point on the first target trajectory includes:

wherein the content of the first and second substances,

represents a target acceleration of an ith point among the M points,

represents a target speed of the (i + 1) th point among the M points,

represents a target speed of an ith point among the M points,

represents a path length of an i +1 th point among the M points,

represents a path length of an ith point of the M points,

represents a target passing time of an ith point of the M points,

represents the path length of the (i-1) th point of the M points,

represents the target speed of the i-1 point of the M points.

Optionally, in this embodiment, the target passing time may be determined according to the formula, and then, whether the generated target trajectory meets the requirement may be determined according to the determined target passing time of each point, so that the target trajectory can effectively meet the real trajectory, and can be constrained by the dynamic parameters, so as to obtain a more accurate target trajectory.

The present embodiment is further explained below with reference to specific examples:

fig. 9 is a schematic flow diagram of another automatic driving simulation method according to an embodiment of the present invention, as shown in fig. 9, the automatic driving simulation method may include, but is not limited to, the following steps:

s902, starting;

s904, setting vehicle dynamics parameters by a user;

for example, the wheelbase of the vehicle

Acceleration range of vehicle

Range of front wheel slip angle of vehicle

According to the bicycle model, the minimum turning radius of the vehicle can be calculated

And maximum curvature

Setting the maximum friction coefficient of the road

。

S906, the user sets control points (corresponding to the M control points) on the interactive interface;

s908, generating a target trajectory path (corresponding to the aforementioned first target trajectory);

s910, judging whether the maximum curvature of the path meets the kinematic requirement of the vehicle, if so, executing a step S912-1, otherwise, executing a step 912-2;

s912-1, generating a control point maximum target speed (corresponding to the target speed), and executing step S914;

s912-2, reminding the user to modify the control point, and returning to the step S906;

s914, the user sets a target speed of the control point;

s916, generating information such as speed, acceleration and time of each point on the path point;

and S918, finishing.

Through the embodiment, in the process of the target test control algorithm, after the scheme is applied, the target track generated by the simulation software can better accord with the rule of vehicle motion, a user can be more concentrated in testing the target algorithm, and the simulation software provides better test environment and user experience.

In addition, the constraint meeting the vehicle dynamic kinematics is not limited to the maximum front wheel deflection angle, the minimum turning radius, the maximum acceleration, the minimum braking deceleration and other constraints of the vehicle mentioned in the scheme, and the corresponding constraint is properly increased or reduced, and the aim is the same as that of the scheme;

it should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the invention. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required by the invention.

According to another aspect of the embodiment of the invention, there is also provided an automatic driving simulation apparatus for implementing the automatic driving simulation method. As shown in fig. 10, the apparatus includes:

an obtaining module 1002, configured to, in response to a first instruction, obtain a dynamic parameter of a target vehicle and N sets of first constraint parameters corresponding to N control points, where each control point corresponds to one set of first constraint parameters, and N is a natural number greater than 1;

a calculating module 1004, configured to calculate, according to N sets of first constraint parameters corresponding to the N control points, N sets of first state parameters corresponding to the N control points;

a first generating module 1006, configured to generate and display a first target trajectory of the target vehicle and state parameters on each point on the first target trajectory according to the N sets of first state parameters, where the first target trajectory passes through the N control points;

a second generating module 1008, configured to determine a state parameter of a point on the first target trajectory, and generate and display target prompt information when it is determined that the state parameter does not satisfy the kinetic parameter, where the target prompt information is used to indicate that the first target trajectory needs to be adjusted.

As an optional solution, the apparatus is further configured to:

As an optional scheme, the apparatus is further configured to update the N groups of first constraint parameters preset on the N control points to N groups of second constraint parameters by:

As an optional scheme, the apparatus is further configured to generate and display a target prompt message when it is determined that the state parameter does not satisfy the kinetic parameter, in the following manner:

As an optional solution, the apparatus is further configured to:

As an alternative, the apparatus is further configured to calculate the target speed at each point on the first target trajectory from the curvature of the vehicle and the path length at each point as follows:

As an alternative, the apparatus is further configured to calculate a first maximum speed at each of the M points from the curvature of the vehicle at each of the M points if the first target trajectory includes M points as follows:

calculating a first maximum velocity at an ith point of the M points by:

wherein the content of the first and second substances,

representing a first maximum velocity at an ith point of the M points,

wherein the content of the first and second substances,

represents the curvature of the vehicle at the i-th point among the M points,

represents a preset static friction coefficient and is,

which represents a preset gravitational acceleration and,

wherein the determination is made as follows

：

Determining a predetermined regulatory maximum speed

；

Determining the preset target speed;

in case the ith point of the M points is a shift point, it will be

Is determined to be 0.

As an alternative, the apparatus is further configured to calculate the target speed at each of the M points according to the first maximum speed at each of the M points, the path length at each of the M points, and a preset acceleration range of the target vehicle by:

the target vehicle allowed acceleration comprises the minimum acceleration;

As an alternative, the apparatus is further configured to calculate a second maximum speed at an i +1 st point from a first maximum speed at an i-th point of the M points, a path length at the i-th point, a path length at the i +1 st point, and a preset maximum acceleration of the target vehicle in order from the 1 st point to the M-th point by:

wherein the content of the first and second substances,

represents a second maximum speed at the (i + 1) th point,

represents a first maximum velocity at the (i + 1) th point,

representing a first maximum velocity at said ith point,

represents the path length at the ith point,

represents the path length at the (i + 1) th point,

represents a preset maximum acceleration of the target vehicle.

As an alternative, the apparatus is further configured to calculate a third maximum speed at a j-1 point according to a first maximum speed at a j-th point of the M points, a path length at the j-th point, a path length at the j-1 point, and a preset minimum acceleration of the target vehicle in order from the M-th point to the 1-th point by:

calculating a third maximum speed at the j-1 point by:

wherein the content of the first and second substances,

represents a third maximum speed at said j-1 point,

represents a first maximum speed at said j-1 point,

representing a first maximum speed at said j-th point,

indicates the path length at the j-th point,

indicates the path length at the j-1 st point,

represents a preset minimum acceleration of the target vehicle.

As an alternative, the apparatus is further configured to calculate the target velocity at each of the M points from all of the maximum velocities at each of the M points by:

calculating a target speed at an ith point of the M points by:

wherein the content of the first and second substances,

represents the target velocity at the i-th point,

representing the second maximum velocity at the ith point,

represents the third maximum velocity at the ith point.

As an optional solution, the apparatus is further configured to:

As an alternative, the apparatus is further configured to calculate a target acceleration and a target transit time at each point on the first target trajectory from the target velocity and the path length at each point as follows:

wherein the content of the first and second substances,

represents a target acceleration of an ith point among the M points,

represents a target speed of the (i + 1) th point among the M points,

represents a target speed of an ith point among the M points,

represents a path length of an i +1 th point among the M points,

represents a path length of an ith point of the M points,

represents a target passing time of an ith point of the M points,

represents the path length of the (i-1) th point of the M points,

represents the target speed of the i-1 point of the M points.

According to another aspect of the embodiment of the present invention, there is also provided an electronic device for implementing the automatic driving simulation method, where the electronic device may be a terminal device or a server shown in fig. 1. The present embodiment takes the electronic device as an example for explanation. As shown in fig. 11, the electronic device comprises a memory 1102 and a processor 1104, wherein the memory 1102 stores a computer program and the processor 1104 is arranged to execute the steps of any of the above method embodiments by means of the computer program.

Optionally, in this embodiment, the electronic device may be located in at least one network device of a plurality of network devices of a computer network.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

s1, responding to the first instruction, acquiring the dynamic parameters of the target vehicle and N groups of corresponding first constraint parameters on N control points, wherein each control point corresponds to one group of first constraint parameters, and N is a natural number greater than 1;

s2, calculating N groups of first state parameters corresponding to the N control points according to the N groups of first constraint parameters corresponding to the N control points;

s3, generating and displaying a first target track of the target vehicle and state parameters of each point on the first target track according to the N groups of first state parameters, wherein the first target track passes through the N control points;

and S4, judging the state parameters of the points on the first target track, and generating and displaying target prompt information when the state parameters are judged not to meet the kinetic parameters, wherein the target prompt information is used for indicating that the first target track needs to be adjusted.

Alternatively, it can be understood by those skilled in the art that the structure shown in fig. 11 is only an illustration, and the electronic device may also be a terminal device such as a smart phone (e.g., an Android phone, an iOS phone, etc.), a tablet computer, a palmtop computer, a Mobile Internet Device (MID), a PAD, and the like. Fig. 11 is a diagram illustrating a structure of the electronic device. For example, the electronics may also include more or fewer components (e.g., network interfaces, etc.) than shown in FIG. 11, or have a different configuration than shown in FIG. 11.

The memory 1102 may be used to store software programs and modules, such as program instructions/modules corresponding to the automatic driving simulation method and apparatus in the embodiment of the present invention, and the processor 1104 executes various functional applications and data processing by running the software programs and modules stored in the memory 1102, that is, the automatic driving simulation method described above is implemented. The memory 1102 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 1102 can further include memory located remotely from the processor 1104 and such remote memory can be coupled to the terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The memory 1102 may be used for information such as target trajectory and kinetic parameters, but is not limited thereto. As an example, as shown in fig. 11, the memory 1102 may include, but is not limited to, an obtaining module 1002, a calculating module 1004, a first generating module 1006, and a second generating module 1008 of the automatic driving simulation apparatus. In addition, other module units in the automatic driving simulation apparatus may also be included, but are not limited to, and are not described in detail in this example.

Optionally, the transmitting device 1106 is used for receiving or transmitting data via a network. Examples of the network may include a wired network and a wireless network. In one example, the transmission device 1106 includes a Network adapter (NIC) that can be connected to a router via a Network cable to communicate with the internet or a local area Network. In one example, the transmission device 1106 is a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.

In addition, the electronic device further includes: a display 1108 for displaying the target trajectory; and a connection bus 1110 for connecting the respective module components in the above-described electronic apparatus.

In other embodiments, the terminal device or the server may be a node in a distributed system, where the distributed system may be a blockchain system, and the blockchain system may be a distributed system formed by connecting a plurality of nodes through a network communication. Nodes can form a Peer-To-Peer (P2P, Peer To Peer) network, and any type of computing device, such as a server, a terminal, and other electronic devices, can become a node in the blockchain system by joining the Peer-To-Peer network.

According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The computer program may be configured to cause a processor of a computer device to read the computer instructions from a computer readable storage medium, the processor executing the computer instructions to cause the computer device to perform the method of automated driving simulation provided in the various alternative implementations of the aspect of generating a target trajectory, wherein the computer program is configured to perform the steps in any one of the method embodiments described above when executed.

Alternatively, in the present embodiment, the above-mentioned computer-readable storage medium may be configured to store a computer program for executing the steps of:

Alternatively, in this embodiment, a person skilled in the art may understand that all or part of the steps in the methods of the foregoing embodiments may be implemented by a program instructing hardware associated with the terminal device, where the program may be stored in a computer-readable storage medium, and the storage medium may include: flash disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

The integrated unit in the above embodiments, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in the above computer-readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing one or more computer devices (which may be personal computers, servers, network devices, etc.) to execute all or part of the steps of the method according to the embodiments of the present invention.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in the present application, it should be understood that the disclosed client may be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one type of division of logical functions, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. An automated driving simulation method, comprising:

responding to a first instruction, acquiring dynamic parameters of a target vehicle and N groups of corresponding first constraint parameters on N control points, wherein each control point corresponds to one group of first constraint parameters, and N is a natural number greater than 1;

calculating N groups of first state parameters corresponding to the N control points according to N groups of first constraint parameters corresponding to the N control points;

generating and displaying a first target track of the target vehicle and state parameters of each point on the first target track according to the N groups of first state parameters, wherein the first target track passes through the N control points;

judging the state parameters of points on the first target track, and generating and displaying target prompt information under the condition that the state parameters are judged not to meet the kinetic parameters, wherein the target prompt information is used for indicating that the first target track needs to be adjusted;

the method further comprises the following steps:

2. The method according to claim 1, wherein the updating the N sets of first constraint parameters preset at the N control points to N sets of second constraint parameters comprises:

3. The method according to claim 1, wherein the updating the N sets of first constraint parameters preset at the N control points to N sets of second constraint parameters comprises:

4. The method of claim 1, wherein generating and displaying a target prompt message when it is determined that the state parameter does not satisfy the kinetic parameter comprises:

5. The method of claim 1, further comprising:

6. The method of claim 5, wherein said calculating a target velocity at each point on said first target trajectory from vehicle curvature and path length at each point comprises:

7. The method of claim 6, wherein calculating a first maximum speed at each of the M points from vehicle curvature at each of the M points if the M points are included on the first target trajectory comprises:

calculating a first maximum velocity at an ith point of the M points by:

wherein the content of the first and second substances,

representing a first maximum velocity at an ith point of the M points,

wherein the content of the first and second substances,

represents the curvature of the vehicle at the i-th point among the M points,

represents a preset static friction coefficient and is,

which represents a preset gravitational acceleration and,

wherein the determination is made as follows

：

Determining a predetermined regulatory maximum speed

；

Determining the preset target speed;

in case the ith point of the M points is a shift point, it will be

Is determined to be 0.

8. The method of claim 6, wherein calculating the target speed at each of the M points according to the first maximum speed at each of the M points, the path length at each of the M points, and a preset acceleration range of the target vehicle comprises:

the target vehicle allowed acceleration comprises the minimum acceleration;

9. The method according to claim 8, wherein the calculating a second maximum speed at an i +1 th point from a first maximum speed at an i-th point of the M points, a path length at the i-th point, a path length at the i + 1-th point, and a preset maximum acceleration of the target vehicle in order from the 1 st point to the M-th point includes:

wherein the content of the first and second substances,

represents a second maximum speed at the (i + 1) th point,

represents a first maximum velocity at the (i + 1) th point,

representing a first maximum velocity at said ith point,

represents the path length at the ith point,

represents the path length at the (i + 1) th point,

represents a preset maximum acceleration of the target vehicle.

10. The method according to claim 8, wherein calculating a third maximum speed at a j-1 point from a first maximum speed at a j-th point of the M points, a path length at the j-th point, a path length at the j-1 point, and a preset minimum acceleration of the target vehicle in order from the M-th point to the 1-th point comprises:

calculating a third maximum speed at the j-1 point by:

wherein the content of the first and second substances,

represents a third maximum speed at said j-1 point,

represents a first maximum speed at said j-1 point,

representing a first maximum speed at said j-th point,

indicates the path length at the j-th point,

indicates the path length at the j-1 st point,

represents a preset minimum acceleration of the target vehicle.

11. The method of claim 8, wherein said calculating a target velocity at each of the M points from the second maximum velocity and the third maximum velocity at each of the M points comprises:

calculating a target speed at an ith point of the M points by:

wherein the content of the first and second substances,

represents the target velocity at the i-th point,

representing the second maximum velocity at the ith point,

represents the third maximum velocity at the ith point.

12. The method of claim 5, further comprising:

13. The method of claim 12, wherein said calculating a target acceleration and a target transit time at each point on said first target trajectory from said target velocity and said path length at each point comprises:

wherein the content of the first and second substances,

represents a target acceleration of an ith point among the M points,

represents a target speed of the (i + 1) th point among the M points,

represents a target speed of an ith point among the M points,

represents a path length of an i +1 th point among the M points,

represents a path length of an ith point of the M points,

represents a target passing time of an ith point of the M points,

represents the path length of the (i-1) th point of the M points,

represents the target speed of the i-1 point of the M points.

14. An automatic driving simulation apparatus, characterized by comprising:

the first calculation module is used for calculating N groups of first state parameters corresponding to the N control points according to N groups of first constraint parameters corresponding to the N control points;

the second generation module is used for judging the state parameters of the points on the first target track, and generating and displaying target prompt information under the condition that the state parameters do not meet the kinetic parameters, wherein the target prompt information is used for indicating that the first target track needs to be adjusted;

the parameter updating module is used for responding to an input second instruction and updating the N groups of first constraint parameters preset on the N control points into N groups of second constraint parameters under the condition that the state parameters of the points on the first target track do not meet the kinetic parameters;

the second calculation module is used for calculating and obtaining N groups of second state parameters on the N control points according to the N groups of second constraint parameters corresponding to the N control points;

and the third generating module is used for generating a second target track of the target vehicle and state parameters of each point on the second target track according to the N groups of second state parameters, wherein the second target track passes through the N control points.

15. A computer-readable storage medium, characterized in that it comprises a stored program, wherein the program is executable by a terminal device or a computer to perform the method of any one of claims 1 to 13.

16. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 13 by means of the computer program.