CN-121979755-A - Simulation method, device and equipment for automatic driving formation driving

CN121979755ACN 121979755 ACN121979755 ACN 121979755ACN-121979755-A

Abstract

The application is applicable to the technical field of automatic driving, and provides a simulation method, a device and equipment for automatic driving formation driving, wherein the automatic driving formation comprises a head car and a following car, and the method comprises the following steps of determining based on Parritol distribution Communication delay time length of time following vehicle ; Is a positive number, Is a positive integer, according to the head-on in the simulation environment Determining the speed control quantity of the moment and determining the following vehicle The speed control quantity at the moment according to the following vehicle Determining the space position coordinates of the following vehicle based on the corresponding relation between the space position coordinates of the head vehicle and the steering control quantity Steering control amount at moment according to following vehicle And generating a following vehicle control instruction by the speed control quantity and the steering control quantity at the moment, and controlling the following vehicle to run in the simulation environment. The invention can solve the technical problems that communication delay is easy to occur among vehicles when the automatic driving formation runs, so that the simulation test is inconsistent with the actual scene and the accuracy of the simulation test is affected.

Inventors

PAN BING
ZHENG WEILING
HUA SHIDAN
JI HAORAN
HAN CHAO

Assignees

浙江吉利控股集团有限公司
浙江远程新能源商用车集团有限公司

Dates

Publication Date: 20260505
Application Date: 20260123

Claims (10)

1. A method of simulating travel of an autopilot formation, the autopilot formation comprising a lead vehicle and a follower vehicle, the method comprising: Determination of based on pareto distribution Communication delay time length of following vehicle at moment Wherein the said Is positive, said Is a positive integer; According to the head car in the simulation environment Determining the speed control quantity of the moment and determining the following vehicle A speed control amount at a time; According to the following vehicle Determining the following vehicle in the time space position coordinates based on the obtained corresponding relation between the space position coordinates of the head vehicle and the steering control quantity Steering control amount at the moment; According to the following vehicle And generating a following vehicle control instruction by the speed control quantity and the steering control quantity at the moment so as to control the following vehicle to run in the simulation environment.
2. A simulation method of automated driving formation driving according to claim 1, wherein the determination of the pareto distribution is based on Communication delay time length of following vehicle at moment Comprising: acquiring the number of vehicles in an automatic driving formation; Determining a broadcasting mode of the speed control quantity according to the number of vehicles; Determining based on the broadcasting mode of the speed control quantity Communication delay time length of following vehicle at moment 。
3. The simulation method of automatic driving formation traveling according to claim 2, wherein the determining a broadcasting mode of the speed control amount according to the number of vehicles includes: When the number of vehicles is smaller than a preset number threshold, determining that the broadcasting mode of the speed control quantity is a direct broadcasting mode; And when the number of the vehicles is smaller than or equal to a preset number threshold, determining that the broadcasting mode of the speed control quantity is a multi-hop broadcasting mode.
4. The simulation method of automatic driving formation traveling according to claim 3, wherein when the broadcasting mode of the speed control amount is a direct broadcasting mode, the broadcasting mode based on the speed control amount determines Communication delay time length of following vehicle at moment Comprising: Random generation based on minimum delay duration and shape parameters in pareto distribution Communication delay time length of following vehicle at moment 。
5. The simulation method of automatic driving formation traveling according to claim 3, wherein when the broadcasting mode of the speed control amount is a multi-hop broadcasting mode, the broadcasting mode based on the speed control amount is determined Communication delay time length of following vehicle at moment Comprising: Determining location information of the follower in the autopilot formation; Determining the retransmission times of the speed control quantity corresponding to the following vehicle according to the position information; Determining sub-communication delay time length of each speed control quantity retransmission corresponding to the following vehicle based on pareto distribution, wherein the speed control quantity retransmission times are used for representing the times of retransmitting the speed control quantity to the following vehicle; determining according to the corresponding speed control quantity retransmission times of the following vehicles and the sub-communication delay time length of each speed control quantity retransmission Communication delay time length of following vehicle at moment 。
6. A simulation method of automated driving formation driving according to claim 1, wherein the following vehicle is in accordance with the following vehicle Determining the following vehicle in the time space position coordinates based on the obtained corresponding relation between the space position coordinates of the head vehicle and the steering control quantity The steering control amount at the moment, before the method further includes: Acquiring initial position coordinates of the head car at a plurality of moments and steering control quantity of each initial position coordinate; carrying out standardized conversion treatment on the initial position coordinates at a plurality of moments to obtain a plurality of space position coordinates of the head car; And determining the steering control quantity corresponding to each space position coordinate of the head car according to the steering control quantity of each initial position coordinate.
7. A method of simulating driving teams of travel in accordance with claim 1, the method further comprising: Acquiring the head car in the simulation environment Environmental awareness data and head car state information at the moment; according to the head position The environmental perception data and the head car state information at the moment are respectively calculated to obtain the head car position A speed control amount and a steering control amount at a time.
8. A method of simulating travel of an autopilot formation according to any one of claims 1 to 7, wherein the method further comprises: according to the head position Speed control amount and steering control amount at time, and the head car is in The head car state information at the moment is calculated to obtain the head car position The head state information of the moment.
9. An emulation device for driving an autopilot formation, said autopilot formation comprising a lead vehicle and a following vehicle, said device comprising: a delay calculation module for determining based on the pareto distribution Communication delay time length of following vehicle at moment Wherein the said Is positive, said Is a positive integer; A speed control quantity determining module for determining the speed of the head car according to the simulation environment Determining the speed control quantity of the moment and determining the following vehicle A speed control amount at a time; A steering control amount determining module for determining whether the following vehicle is in the road or not according to the steering control amount Determining the following vehicle in the time space position coordinates based on the obtained corresponding relation between the space position coordinates of the head vehicle and the steering control quantity Steering control amount at the moment; the instruction generation module is used for generating a command according to the following vehicle And generating a following vehicle control instruction by the speed control quantity and the steering control quantity at the moment so as to control the following vehicle to run in the simulation environment.
10. Simulation device for automated driving formation driving, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 8 when executing the computer program.

Description

Simulation method, device and equipment for automatic driving formation driving Technical Field The application belongs to the technical field of automatic driving, and particularly relates to a simulation method, a device and equipment for automatic driving formation driving. Background The automatic driving formation refers to a vehicle team which improves traffic efficiency and reduces energy consumption through tight cooperation and cooperative control among vehicles, is one of core scenes of future intelligent traffic, and is widely applied to logistics transportation and intelligent ports. The running of the automatic driving formation is tested, the reliability of technologies such as multi-vehicle cooperative control, environment perception, decision planning and the like of the automatic driving formation can be verified, and the performance of the automatic driving formation is optimized. The automatic driving formation is tested through a real road, and a closed site is required to be built, and a large amount of vehicles and manpower are input. At present, by constructing a virtual environment, simulation tests can be carried out on the automatic driving formation, so that time and economic cost are saved. However, in the existing simulation test method for automatic driving formation, communication delay time between vehicles is not considered, so that vehicle response is delayed, and the simulation test is inconsistent with an actual scene, and the simulation test accuracy is affected. Disclosure of Invention The application provides a simulation method, a device and equipment for automatic driving formation driving, which can solve the technical problems that in the existing simulation test method for automatic driving formation, communication delay time between vehicles is not considered, so that the response of the vehicles is lagged, the simulation test is inconsistent with an actual scene, and the simulation test accuracy is affected. In a first aspect, the present application provides a method for simulating the running of an autopilot formation, the autopilot formation comprising a lead vehicle and a follower vehicle, the method comprising: Determination of based on pareto distribution Communication delay time length of following vehicle at momentWherein the saidIs positive, saidIs a positive integer; According to the head car in the simulation environment Determining the speed control quantity of the moment and determining the following vehicleA speed control amount at a time; According to the following vehicle Determining the following vehicle in the time space position coordinates based on the obtained corresponding relation between the space position coordinates of the head vehicle and the steering control quantitySteering control amount at the moment; According to the following vehicle And generating a following vehicle control instruction by the speed control quantity and the steering control quantity at the moment so as to control the following vehicle to run in the simulation environment. In a possible implementation manner of the first aspect, the determining is based on pareto distributionCommunication delay time length of following vehicle at momentComprising: acquiring the number of vehicles in an automatic driving formation; Determining a broadcasting mode of the speed control quantity according to the number of vehicles; Determining based on the broadcasting mode of the speed control quantity Communication delay time length of following vehicle at moment。 In a possible implementation manner of the first aspect, the determining, according to the number of vehicles, a broadcasting mode of the speed control amount includes: When the number of vehicles is smaller than a preset number threshold, determining that the broadcasting mode of the speed control quantity is a direct broadcasting mode; And when the number of the vehicles is smaller than or equal to a preset number threshold, determining that the broadcasting mode of the speed control quantity is a multi-hop broadcasting mode. In a possible implementation manner of the first aspect, when the broadcasting mode of the speed control amount is a direct broadcasting mode, the determining, based on the broadcasting mode of the speed control amount, the communication delay duration τ of the following vehicle at the time t includes: and randomly generating the communication delay time tau of the following vehicle at the moment t according to the minimum delay time and the shape parameter in the pareto distribution. In a possible implementation manner of the first aspect, when the broadcasting mode of the speed control amount is a multi-hop broadcasting mode, the determining, based on the broadcasting mode of the speed control amount, a communication delay duration τ of the following vehicle at a time t includes: Determining location information of the follower in the autopilot formation; Determining the retransmission times of t