US 12,393,746 B2
Driving simulation method and apparatus, electronic device, and computer storage medium
Haining Du, Shenzhen (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed by Tencent Technology (Shenzhen) Company Limited, Shenzhen (CN)
Filed on Jul. 9, 2021, as Appl. No. 17/371,900.
Application 17/371,900 is a continuation of application No. PCT/CN2020/086029, filed on Apr. 22, 2020.
Claims priority of application No. 201910368409.1 (CN), filed on May 5, 2019.
Prior Publication US 2021/0334420 A1, Oct. 28, 2021
Int. Cl. G06F 30/15 (2020.01); G06F 30/10 (2020.01); G06F 30/20 (2020.01)
CPC G06F 30/15 (2020.01) [G06F 30/10 (2020.01); G06F 30/20 (2020.01)] 19 Claims
OG exemplary drawing
 
1. A driving simulation method for improving an autonomous driving system configured for controlling an autonomous vehicle, performed by an electronic device, the method comprising:
receiving parameters through a first configuration interface;
determining, based on the parameters, a reference vehicle-to-vehicle distance, a reference vehicle speed, and a background vehicle quantity of a target lane, the target lane comprising a lane in which a test vehicle and background vehicles are located;
determining an initial location of each of the background vehicles in the target lane based on a location of the test vehicle, the reference vehicle-to-vehicle distance, and a random distance deviation;
determining an initial speed of each of the background vehicles in the target lane based on the reference vehicle speed and a random speed deviation; and
simulating traveling of each of the background vehicles in a simulated traffic environment based on the initial location and the initial speed of each of the background vehicles and the background vehicle quantity, further comprising:
fixing a speed of a leading background vehicle;
updating speeds of other background vehicles following the leading background vehicle according to predefined speed constraints in a following model, such that the background vehicles all stay within an effective test range of the test vehicle;
controlling the test vehicle in the simulated traffic environment to change a lane in accordance with a decision algorithm of the autonomous driving system:
in response to the test vehicle changing the lane, updating transverse speeds and locations of the background vehicles in the simulated traffic environment;
recording driving data of the test vehicle until a predefined simulation time is achieved; and
generating a test report based on the driving data of the test vehicle, wherein the test report represents performance of the autonomous driving system.