CN113581193A - Driving scene simulation optimization method and system, electronic equipment and storage medium - Google Patents

Driving scene simulation optimization method and system, electronic equipment and storage medium Download PDF

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Publication number
CN113581193A
CN113581193A CN202110822814.3A CN202110822814A CN113581193A CN 113581193 A CN113581193 A CN 113581193A CN 202110822814 A CN202110822814 A CN 202110822814A CN 113581193 A CN113581193 A CN 113581193A
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vehicle
relative
vehicles
distance
speed
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程德心
周风明
郝江波
余洋
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Wuhan Kotei Informatics Co Ltd
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Wuhan Kotei Informatics Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/105—Speed
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/20—Design optimisation, verification or simulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2111/00—Details relating to CAD techniques
    • G06F2111/18—Details relating to CAD techniques using virtual or augmented reality
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/10—Internal combustion engine [ICE] based vehicles
    • Y02T10/40—Engine management systems

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Geometry (AREA)
  • Human Computer Interaction (AREA)
  • Evolutionary Computation (AREA)
  • Computer Hardware Design (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention provides a driving scene simulation optimization method, a driving scene simulation optimization system, electronic equipment and a storage medium, wherein the method comprises the following steps: when the vehicle-mounted sensor of the self vehicle detects that the self vehicle arrives at the side, the relative distance and the speed of the self vehicle are obtained; calculating the initial position of the other vehicle according to the current speed of the vehicle, the preset running time, the relative distance of the other vehicle and the speed of the other vehicle; based on the initial position of the other vehicle, the driving process of the other vehicle relative to the self vehicle is simulated. Therefore, the problem that other vehicles flash in the scene simulation can be avoided, the simulation effect is improved, and the reality of the simulation scene is guaranteed.

Description

Driving scene simulation optimization method and system, electronic equipment and storage medium
Technical Field
The invention belongs to the field of automobiles, and particularly relates to a driving scene simulation optimization method, a driving scene simulation optimization system, electronic equipment and a storage medium.
Background
Generally, based on data collected by the vehicle reality, when the simulation of the driving of other vehicles is carried out, the simulation vehicles can have a phenomenon which appears suddenly, for example, after the driving of the self vehicle is carried out for 3 seconds, the vehicles exceed the self vehicle from the left rear, the data collected by the self vehicle can be recorded only when the sensors find the data, then, the behavior of the front of the vehicle for 3 seconds is a position state, and the automatic simulation can find that the other vehicles are flashed in the left front of the self vehicle, so that the simulation authenticity is poor.
Disclosure of Invention
In view of this, embodiments of the present invention provide a driving scenario simulation optimization method, system, electronic device, and storage medium, which are used to solve the problem of poor reality of the existing vehicle driving scenario simulation.
In a first aspect of the embodiments of the present invention, a driving scenario simulation optimization method is provided, including:
when the vehicle-mounted sensor of the self vehicle detects that the self vehicle arrives at the side, the relative distance and the speed of the self vehicle are obtained;
calculating the initial position of the other vehicle according to the current speed of the vehicle, the preset running time, the relative distance of the other vehicle and the speed of the other vehicle;
based on the initial position of the other vehicle, the driving process of the other vehicle relative to the self vehicle is simulated.
In a second aspect of the embodiments of the present invention, there is provided a driving scenario simulation optimization system, including:
the acquisition module is used for acquiring the relative distance and the speed of other vehicles when the vehicle-mounted sensor of the vehicle detects that the vehicle arrives from the side;
the position calculation module is used for calculating the initial position of the other vehicle according to the current speed of the vehicle, the preset running time, the relative distance of the other vehicle and the speed of the other vehicle;
and the simulation module is used for simulating the driving process of the other vehicle relative to the self vehicle based on the initial position of the other vehicle.
In a third aspect of the embodiments of the present invention, there is provided an apparatus, including a memory, a processor, and a computer program stored in the memory and executable by the processor, where the processor executes the computer program to implement the steps of the method according to the first aspect of the embodiments of the present invention.
In a fourth aspect of the embodiments of the present invention, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor implements the steps of the method provided by the first aspect of the embodiments of the present invention.
In the embodiment of the invention, the driving process of the other vehicle relative to the self vehicle is simulated by calculating the initial position of the other vehicle before a certain driving time according to the speed information of the self vehicle and the other vehicle and the relative position relationship, so that the problem of vehicle flash in a driving scene can be avoided, the reduction degree of the driving scene is higher, and the simulation effect in an overtaking scene is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a driving scene simulation optimization method according to an embodiment of the present invention;
fig. 2 is another schematic flow chart of a driving scenario simulation optimization method according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a driving scenario simulation optimization system according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below 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 understood that the terms "comprises" and "comprising," when used in this specification or claims and in the accompanying drawings, are intended to cover a non-exclusive inclusion, such that a process, method or system, or apparatus that comprises a list of steps or elements is not limited to the listed steps or elements. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.
Referring to fig. 1, a schematic flow chart of a driving scenario simulation optimization method according to an embodiment of the present invention includes:
s101, when the vehicle-mounted sensor of the vehicle detects that the vehicle arrives at the side, acquiring the relative distance and the speed of the other vehicle;
the vehicle-mounted sensor refers to a vehicle-mounted sensor which is commonly used such as a camera, a laser radar, a wheel speed meter and a combined inertial navigation device and is carried on a vehicle, wherein the vehicle can be detected from the side through the optical camera or the laser radar.
It should be noted that, the side vehicle refers to a vehicle coming from behind, and when the vehicle enters a certain distance range (for example, 4-5 meters) from the left front or right front of the vehicle, the vehicle can be identified by the sensor, and then the current relative position of the vehicle is obtained.
Wherein the relative distances include a relative lateral distance and a relative longitudinal distance.
Preferably, the relative distance of the other vehicle and the speed of the other vehicle are detected and calculated by the laser radar on the vehicle of the self vehicle. When the laser radar finds other vehicles, the relative displacement of the vehicles can be obtained within a certain time period (0.5ms), and the speed of the other vehicles can be calculated according to the relative displacement and the speed of the vehicles.
It can be understood that in the embodiment of the present invention, the speed of the other vehicle is taken as the speed of the other vehicle when the other vehicle travels at a constant speed, that is, the initial position of the other vehicle is calculated, and the other vehicle travels from the initial position to the current position as a constant speed motion, so as to simulate the passing process of the other vehicle.
S102, calculating the initial position of the other vehicle according to the current speed of the vehicle, the preset running time, the relative distance of the other vehicle and the speed of the other vehicle;
the preset running time generally refers to the time from a certain starting position to the current position of the self-vehicle, namely the time from a certain moment before the self-vehicle arrives at the moment when the self-vehicle finds other vehicles, and can also be a self-defined period of time, namely the running process from the time before the self-defined time to the time when the self-vehicle finds other vehicles is simulated.
The initial position of the other vehicle is the position of the other vehicle before the vehicle detects the preset running time of the other vehicle, namely the position of the simulated other vehicle exceeds the initial position of the vehicle. The driving process of the other vehicle relative to the self vehicle is simulated from the starting position.
Illustratively, a road plane coordinate system is established, and the starting position of the self-vehicle is set to be (0,0), and the self-vehicle is set to be V per second0Is driven at a speed of (NV) N seconds later00), the other vehicle is detected, the lateral and longitudinal distances of the other vehicle relative to the own vehicle are (X1, Y1), and the speed of the other vehicle is V1. The initial longitudinal distance of the other vehicle can be determined to be NV through calculation0+Y1-NV1The initial transverse distance is X1, i.e. the initial position is (NV)0+Y1-NV1，X1)。
In one embodiment, as shown in fig. 2, if multiple vehicles overtake from behind in the same scene, the relative distance and speed of these vehicles need to be obtained, and whether there is coincidence between the vehicles is determined, as shown in step S201, including:
in the same scene, if the vehicles with the same driving direction exceeding a certain number of side vehicles are detected, whether the driving routes of the other vehicles are overlapped or not is calculated and judged, the initial positions of the overlapped vehicles are changed, and the driving process of the other vehicles relative to the own vehicle is simulated.
The vehicle driving process can detect the overtaking of multiple vehicles in sequence at different time, can also detect the overtaking process of multiple lanes and multiple vehicles simultaneously, and can specifically judge whether the routes are overlapped according to the relative distances of other vehicles.
Further, the transverse distance and the longitudinal distance of the other vehicle relative to the own vehicle per second are calculated, the transverse distance and the longitudinal distance of the other vehicle are compared, and whether the transverse distance and the longitudinal distance of the other vehicle coincide or not within the same time is judged.
S103, simulating the driving process of the other vehicle relative to the self vehicle based on the initial position of the other vehicle.
And simulating the complete driving process of driving the other vehicle to the left front or the right front of the self vehicle according to the initial position, the speed and the self vehicle of the other vehicle.
Optionally, according to the current driving data of other vehicles, the driving process of other vehicles can be simulated for a period of time after other vehicles are detected.
In this embodiment, before a period of time, the other vehicle has the initial position for the driving process of own vehicle, can promote the simulation effect, avoids the problem of other vehicle flashing. Meanwhile, whether the multiple vehicles are overlapped or not is judged by calculating the driving routes of the multiple vehicles, so that a simulation scene of multiple vehicle collision is avoided, and the rationality of simulation is guaranteed.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 3 is a schematic structural diagram of a driving scene simulation optimization system according to an embodiment of the present invention, where the system includes:
the obtaining module 310 is configured to obtain a relative distance and a speed of another vehicle when the vehicle-mounted sensor of the vehicle detects a side vehicle;
wherein the relative distances include a relative lateral distance and a relative longitudinal distance.
Preferably, the relative distance of the other vehicle and the speed of the other vehicle are detected and calculated by the laser radar on the vehicle of the self vehicle.
The position estimation module 320 is used for estimating the initial position of the other vehicle according to the current speed of the vehicle, the preset running time, the relative distance of the other vehicle and the speed of the other vehicle;
optionally, the dead reckoning module 320 further includes:
and a coincidence judgment module. The method is used for calculating and judging whether the driving routes of other vehicles are overlapped or not if detecting that the same driving direction exceeds a certain number of side vehicles in the same scene, changing the initial positions of the overlapped vehicles and simulating the driving process of other vehicles relative to the own vehicle.
Wherein the calculating and judging whether the driving routes of other vehicles are overlapped comprises the following steps:
and calculating the transverse distance and the longitudinal distance of the other vehicle relative to the own vehicle per second, comparing the transverse distance and the longitudinal distance of the other vehicle, and judging whether the transverse distance and the longitudinal distance of the other vehicle coincide or not within the same time.
And the simulation module 330 is used for simulating the driving process of the other vehicle relative to the self vehicle based on the initial position of the other vehicle.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the apparatus and the modules described above may refer to corresponding processes in the foregoing method embodiments, and are not described herein again.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic equipment is used for simulation display of a driving scene, is generally a vehicle-mounted terminal, and can be communicated with a cloud server. As shown in fig. 4, the electronic apparatus 4 of this embodiment includes: a memory 410, a processor 420, and a system bus 430, the memory 410 including an executable program 4101 stored thereon, it being understood by those skilled in the art that the electronic device configuration shown in fig. 4 does not constitute a limitation of electronic devices and may include more or fewer components than shown, or some components in combination, or a different arrangement of components.
The following describes each component of the electronic device in detail with reference to fig. 4:
the memory 410 may be used to store software programs and modules, and the processor 420 executes various functional applications and data processing of the electronic device by operating the software programs and modules stored in the memory 410. The memory 410 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as cache data) created according to the use of the electronic device, and the like. Further, the memory 410 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The executable program 4101 of the network request method is contained on the memory 410, the executable program 4101 may be divided into one or more modules/units, the one or more modules/units are stored in the memory 410 and executed by the processor 420 to implement the driving data consistency check and the like, and the one or more modules/units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used for describing the execution process of the computer program 4101 in the electronic device 4. For example, the computer program 4101 may be divided into an acquisition module, a position estimation module, and a simulation module.
The processor 420 is a control center of the electronic device, connects various parts of the entire electronic device using various interfaces and lines, performs various functions of the electronic device and processes data by operating or executing software programs and/or modules stored in the memory 410 and calling data stored in the memory 410, thereby performing overall status monitoring of the electronic device. Alternatively, processor 420 may include one or more processing units; preferably, the processor 420 may integrate an application processor, which mainly handles operating systems, application programs, etc., and a modem processor, which mainly handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into processor 420.
The system bus 430 is used to connect various functional units in the computer, and can transmit data information, address information, and control information, and may be, for example, a PC I bus, an isa bus, a VESA bus, etc. The instructions of the processor 420 are transmitted to the memory 410 through the bus, the memory 410 feeds data back to the processor 420, and the system bus 430 is responsible for data and instruction interaction between the processor 420 and the memory 410. Of course, the system bus 430 may also access other devices such as network interfaces, display devices, and the like.
In this embodiment of the present invention, the executable program executed by the process 420 included in the electronic device includes:
when the vehicle-mounted sensor of the self vehicle detects that the self vehicle arrives at the side, the relative distance and the speed of the self vehicle are obtained;
calculating the initial position of the other vehicle according to the current speed of the vehicle, the preset running time, the relative distance of the other vehicle and the speed of the other vehicle;
based on the initial position of the other vehicle, the driving process of the other vehicle relative to the self vehicle is simulated.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (10)

1. A driving scene simulation optimization method is characterized by comprising the following steps:
when the vehicle-mounted sensor of the self vehicle detects that the self vehicle arrives at the side, the relative distance and the speed of the self vehicle are obtained;
calculating the initial position of the other vehicle according to the current speed of the vehicle, the preset running time, the relative distance of the other vehicle and the speed of the other vehicle;
based on the initial position of the other vehicle, the driving process of the other vehicle relative to the self vehicle is simulated.
2. The method of claim 1, wherein the relative distances comprise a relative lateral distance and a relative longitudinal distance.
3. The method of claim 1, wherein said obtaining the relative distance and speed of the other vehicle comprises:
the relative distance and speed of other vehicles are detected and calculated by the laser radar on the vehicle of the self vehicle.
4. The method of claim 1, wherein estimating the initial position of the other vehicle based on the current speed of the vehicle, the relative distance of the other vehicle, and the speed of the other vehicle further comprises:
in the same scene, if the vehicles with the same driving direction exceeding a certain number of side vehicles are detected, whether the driving routes of the other vehicles are overlapped or not is calculated and judged, the initial positions of the overlapped vehicles are changed, and the driving process of the other vehicles relative to the own vehicle is simulated.
5. The method of claim 4, wherein the calculating to determine whether there is a coincidence of the travel routes of the other vehicles comprises:
and calculating the transverse distance and the longitudinal distance of the other vehicle relative to the own vehicle per second, comparing the transverse distance and the longitudinal distance of the other vehicle, and judging whether the transverse distance and the longitudinal distance of the other vehicle coincide or not within the same time.
6. A driving scenario simulation optimization system, comprising:
the acquisition module is used for acquiring the relative distance and the speed of other vehicles when the vehicle-mounted sensor of the vehicle detects that the vehicle arrives from the side;
the position calculation module is used for calculating the initial position of the other vehicle according to the current speed of the vehicle, the preset running time, the relative distance of the other vehicle and the speed of the other vehicle;
and the simulation module is used for simulating the driving process of the other vehicle relative to the self vehicle based on the initial position of the other vehicle.
7. The system of claim 6, wherein the dead reckoning module further comprises:
and a coincidence judgment module. The method is used for calculating and judging whether the driving routes of other vehicles are overlapped or not if detecting that the same driving direction exceeds a certain number of side vehicles in the same scene, changing the initial positions of the overlapped vehicles and simulating the driving process of other vehicles relative to the own vehicle.
8. The system of claim 7, wherein the calculating to determine whether there is a coincidence of the travel routes of the other vehicles comprises:
and calculating the transverse distance and the longitudinal distance of the other vehicle relative to the own vehicle per second, comparing the transverse distance and the longitudinal distance of the other vehicle, and judging whether the transverse distance and the longitudinal distance of the other vehicle coincide or not within the same time.
9. A terminal device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the driving scenario simulation optimization method according to any one of claims 1 to 5 when executing said computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed, carries out the steps of the driving scenario simulation optimization method according to any one of claims 1 to 5.
CN202110822814.3A 2021-07-20 2021-07-20 Driving scene simulation optimization method and system, electronic equipment and storage medium Pending CN113581193A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114710432A (en) * 2022-03-24 2022-07-05 武汉光庭信息技术股份有限公司 Vehicle-mounted Ethernet communication joint debugging method and system

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CN110765605A (en) * 2019-10-14 2020-02-07 武汉光庭信息技术股份有限公司 Method and device for generating traffic flow simulation scene
CN111177887A (en) * 2019-12-09 2020-05-19 武汉光庭信息技术股份有限公司 Method and device for constructing simulation track data based on real driving scene
CN111881121A (en) * 2020-06-17 2020-11-03 武汉光庭信息技术股份有限公司 Automatic driving data filling method and device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110765605A (en) * 2019-10-14 2020-02-07 武汉光庭信息技术股份有限公司 Method and device for generating traffic flow simulation scene
CN111177887A (en) * 2019-12-09 2020-05-19 武汉光庭信息技术股份有限公司 Method and device for constructing simulation track data based on real driving scene
CN111881121A (en) * 2020-06-17 2020-11-03 武汉光庭信息技术股份有限公司 Automatic driving data filling method and device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114710432A (en) * 2022-03-24 2022-07-05 武汉光庭信息技术股份有限公司 Vehicle-mounted Ethernet communication joint debugging method and system
CN114710432B (en) * 2022-03-24 2023-10-10 武汉光庭信息技术股份有限公司 Vehicle-mounted Ethernet communication joint debugging method and system

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